2dof ex null theta offsets

Author: mik-p

3-kinematics/02-direct-kinematics.ipynb

@@ -173,23 +173,23 @@
                 "            d = 0,\n",
                 "            alpha = 0,\n",
                 "            a = 1, # note that the dimensions are in m instead of mm\n",
-                "            offset = math.radians(40)\n",
+                "            # offset = math.radians(0)\n",
                 "        ),\n",
                 "        rtb.RevoluteDH(\n",
                 "            d = 0,\n",
                 "            alpha = 0,\n",
                 "            a = 1,\n",
-                "            offset = math.radians(10)\n",
+                "            # offset = math.radians(0)\n",
                 "        )\n",
                 "    ],\n",
-                "    name = \"2dof_example\"\n",
+                "    name = \"Two-Link Manipulator\"\n",
                 ")\n",
                 "\n",
                 "# this will print the robot model details\n",
                 "print(robot_2dof)\n",
                 "\n",
                 "# this will plot the robot model graphically\n",
-                "q = [0.0, 0.0]\n",
+                "q = [40.0, 10.0]\n",
                 "robot_2dof.plot(q, limits=[-2.0, 2.0, -2.0, 2.0, 0.0, 0.5])"
             ]
         },