fix: update-dh-params-of-ar2010 (#103)

wandelbotsgmbh · Oct 2, 2024 · eacf718 · eacf718
1 parent 8fd40a7
commit eacf718
Showing 1 changed file with 12 additions and 14 deletions.
diff --git a/stories/robots/Yaskawa_AR2010.stories.tsx b/stories/robots/Yaskawa_AR2010.stories.tsx
@@ -1,7 +1,5 @@
 import type { StoryObj } from "@storybook/react"
-import { Euler, Vector3, WebGLRenderer } from "three"
 import { SupportedRobot } from "../../src"
-import type { MotionGroupStateResponse } from "@wandelbots/wandelbots-js"
 import { rapidlyChangingMotionState } from "./motionState"
 import { sharedStoryConfig } from "./robotStoryConfig"
 
@@ -20,44 +18,44 @@ function SupportedRobotScene(
       rapidlyChangingMotionState={rapidlyChangingMotionState}
       dhParameters={[
         {
-          a: 0,
-          d: 89.159000000000006,
-          alpha: 1.5707963267948966,
+          a: 150,
+          d: 0,
+          alpha: -1.5707963267948966,
           theta: 0,
           reverse_rotation_direction: false,
         },
         {
-          a: -425,
+          a: 760,
           d: 0,
-          alpha: 0,
-          theta: 0,
+          alpha: 3.1415926535897931,
+          theta: -1.5707963267948966,
           reverse_rotation_direction: false,
         },
         {
-          a: -392.25,
+          a: 200,
           d: 0,
-          alpha: 0,
+          alpha: -1.5707963267948966,
           theta: 0,
           reverse_rotation_direction: false,
         },
         {
           a: 0,
-          d: 109.15000000000001,
+          d: -1082,
           alpha: 1.5707963267948966,
           theta: 0,
           reverse_rotation_direction: false,
         },
         {
           a: 0,
-          d: 94.650000000000006,
+          d: 0,
           alpha: -1.5707963267948966,
           theta: 0,
           reverse_rotation_direction: false,
         },
         {
           a: 0,
-          d: 82.299999999999997,
-          alpha: 0,
+          d: -100,
+          alpha: 3.1415926535897931,
           theta: 0,
           reverse_rotation_direction: false,
         },