fix typos

Author: mik-p

3-kinematics/02-direct-kinematics.ipynb

@@ -170,15 +170,15 @@
                 "        # the RevoluteDH class represents a revolute joint using DH parameters\n",
                 "        # this is a list of 2 joints representing 2 degrees of freedom (DOF)\n",
                 "        rtb.RevoluteDH(\n",
-                "            d = 1, # note that the dimensions are in m instead of mm\n",
+                "            d = 0,\n",
                 "            alpha = 0,\n",
-                "            a = 0,\n",
+                "            a = 1, # note that the dimensions are in m instead of mm\n",
                 "            offset = math.radians(40)\n",
                 "        ),\n",
                 "        rtb.RevoluteDH(\n",
-                "            d = 1,\n",
+                "            d = 0,\n",
                 "            alpha = 0,\n",
-                "            a = 0,\n",
+                "            a = 1,\n",
                 "            offset = math.radians(10)\n",
                 "        )\n",
                 "    ],\n",
@@ -189,7 +189,8 @@
                 "print(robot_2dof)\n",
                 "\n",
                 "# this will plot the robot model graphically\n",
-                "robot_2dof.plot([0, 0])"
+                "q = [0.0, 0.0]\n",
+                "robot_2dof.plot(q, limits=[-2.0, 2.0, -2.0, 2.0, 0.0, 0.5])"
             ]
         },
         {