From 217d69c9f2bb4c428b1dc6ec3ffbb4f282c260b4 Mon Sep 17 00:00:00 2001
From: SKURIC Antun <antun.skuric@inria.fr>
Date: Tue, 15 Feb 2022 11:40:15 +0100
Subject: [PATCH] panda inertial parameters in DH representation

---
 roboticstoolbox/models/DH/Panda.py | 35 ++++++++++++++++++++++++------
 1 file changed, 28 insertions(+), 7 deletions(-)

diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py
index 7ef95a4c4..ad72da9c0 100755
--- a/roboticstoolbox/models/DH/Panda.py
+++ b/roboticstoolbox/models/DH/Panda.py
@@ -46,49 +46,70 @@ def __init__(self):
                 a=0.0,
                 d=0.333,
                 alpha=0.0,
-                qlim=np.array([-2.8973, 2.8973])
+                qlim=np.array([-2.8973, 2.8973]),
+	            m=4.970684,
+                I = [7.03370e-01,  7.06610e-01,  9.11700e-03,-1.39000e-04,  1.91690e-02, 6.77200e-03],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.0,
                 alpha=-np.pi/2,
-                qlim=np.array([-1.7628, 1.7628])
+                qlim=np.array([-1.7628, 1.7628]),
+	            m= 0.646926,
+                I = [7.96200e-03,  2.81100e-02,  2.59950e-02, -3.92500e-03,  7.04000e-04,  1.02540e-02],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.316,
                 alpha=np.pi/2,
-                qlim=np.array([-2.8973, 2.8973])
+                qlim=np.array([-2.8973, 2.8973]),
+	            m= 3.228604,
+                I = [3.72420e-02,  3.61550e-02,  1.08300e-02, -4.76100e-03, -1.28050e-02, -1.13960e-02],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=0.0825,
                 d=0.0,
                 alpha=np.pi/2,
-                qlim=np.array([-3.0718, -0.0698])
+                qlim=np.array([-3.0718, -0.0698]),
+	            m= 3.587895,
+                I =[2.58530e-02,  1.95520e-02,  2.83230e-02, 7.79600e-03,  8.64100e-03, -1.33200e-03],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=-0.0825,
                 d=0.384,
                 alpha=-np.pi/2,
-                qlim=np.array([-2.8973, 2.8973])
+                qlim=np.array([-2.8973, 2.8973]),
+	            m= 1.225946,
+                I =  [3.55490e-02,  2.94740e-02,  8.62700e-03, -2.11700e-03,  2.29000e-04, -4.03700e-03],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=0.0,
                 d=0.0,
                 alpha=np.pi/2,
-                qlim=np.array([-0.0175, 3.7525])
+                qlim=np.array([-0.0175, 3.7525]),
+	            m= 1.666555,
+                I = [1.96400e-03,  4.35400e-03,  5.43300e-03,  1.09000e-04, 3.41000e-04, -1.15800e-03],
+                G= 1
             ),
 
             RevoluteMDH(
                 a=0.088,
                 d=flange,
                 alpha=np.pi/2,
-                qlim=np.array([-2.8973, 2.8973])
+                qlim=np.array([-2.8973, 2.8973]),
+	            m=7.35522e-01,
+                I = [1.25160e-02,  1.00270e-02,  4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03],
+                G= 1
             )
         ]