Merge branch '40-kinematics', update DH

- #40
- roboticslab-uc3m/teo-main#38

csv/dh-head.csv

@@ -1,3 +1,3 @@
 Link,θ,D,A,α
-1,q27,0,0,90
-2,q28,0,0,-90
+1,q27,l1+l2,0,-90
+2,q28,0,0,90

csv/dh-leftArm.csv

@@ -1,7 +1,7 @@
 Link,θ,D,A,α
-1,q21,0,0,90
-2,90+q22,0,0,90
-3,90+q23,l6,0,90
-4,q24,0,0,-90
-5,q25,l7,0,90
-6,90+q26,0,l8,0
+1,q21,0,0,-90
+2,-90+q22,0,0,-90
+3,-90+q23,-l6,0,-90
+4,q24,0,0,90
+5,q25,-l7,0,-90
+6,-90+q26,0,-l8,0

csv/dh-leftLeg.csv

@@ -1,6 +1,6 @@
 Link,θ,D,A,α
 1,q7,0,0,90
-2,-90+q8,0,0,-90
+2,90+q8,0,0,90
 3,q9,0,-l10,0
 4,q10,-l16,-l11,0
 5,q11,0,0,-90

csv/dh-rightArm.csv

@@ -1,7 +1,7 @@
 Link,θ,D,A,α
-1,q15,0,0,90
-2,-90+q16,0,0,90
-3,-90+q17,l6,0,90
-4,q18,0,0,-90
-5,q19,l7,0,90
-6,90+q20,0,l8,0
+1,q15,0,0,-90
+2,-90+q16,0,0,-90
+3,-90+q17,-l6,0,-90
+4,q18,0,0,90
+5,q19,-l7,0,-90
+6,-90+q20,0,-l8,0

csv/dh-rightLeg.csv

@@ -1,7 +1,7 @@
 Link,θ,D,A,α
-1,q6,0,0,-90
-2,90+q5,0,0,-90
-3,q4,0,l10,0
-4,q3,l16,l11,0
+1,q6,0,0,90
+2,90+q5,0,0,90
+3,q4,0,-l10,0
+4,q3,l16,-l11,0
 5,q2,0,0,-90
-6,q1,0,l12,0
+6,q1,0,-l12,0

csv/dh-root-head.csv

@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,q14,0,0,90

csv/dh-root-leftArm.csv

@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,-90+q14,l5,l1,0

csv/dh-root-leftLeg.csv

@@ -0,0 +1,2 @@
+Link,θ,D,A,α
+1,90,-l9,l13,0

csv/dh-root-rightArm.csv

@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,-90+q14,-l5,l1,0

csv/dh-root-rightLeg.csv

@@ -0,0 +1,2 @@
+Link,θ,D,A,α
+1,90,-l9,-l13,0

csv/dh-transformations.csv

@@ -1,9 +1,9 @@
 Name,Transformation
-H_head_rgb,TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_depth,TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_flea,TrasY(l3+l4) * RotY(90) * RotZ(180)
-H_hip_neck,RotX(90) * TrasZ(l1+l2)
-H_hip_leftArm,TrasY(-l1) * TrasZ(l5) * RotZ(90)
-H_hip_rightArm,TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180)
-H_root_leftLeg,TrasY(l13) * TrasZ(-l9) * RotZ(90) * RotX(180)
-H_root_rightLeg,TrasY(-l13) * TrasZ(-l9) * RotZ(-90)
+H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14)
+H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15)
+H_head_flea,TrasZ(l3+l4) * RotZ(-90) * RotX(-90)
+H_hip_neck,RotX(90)
+H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1)
+H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1)
+H_root_leftLeg,TrasZ(-l19) * RotZ(90) * TrasX(l13)
+H_root_rightLeg,TrasZ(-l19) * RotZ(90) * TrasX(-l13)