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- Note it is alpha_i , NOT alpha_i-1 as well as a here in table so first two columns are offset not like in conventional dh table from the textbook. Just mind the indeces.
- i alpha i a d theta i
- 0 [sympy.rad(180), 0.0, 0, 0],
- 1 [sympy.rad(90), -0.033, -0.147, self.th1],
- 2 [0, 0.155, 0, self.th2],
- 3 [0, 0.135, 0, self.th3],
- 4 [sympy.rad(-90), 0.1136, 0, self.th4],
- 5 [self.th5, 0.1045, 0, 0],
- [0, 0, 0, 0] # the last line used for don't remember which sympy reasons
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