# modified DH-parameters for RV-6SDL

setp genserkins.A-0 0
setp genserkins.A-1 85
setp genserkins.A-2 380
setp genserkins.A-3 100
setp genserkins.A-4 0
setp genserkins.A-5 0

setp genserkins.ALPHA-0 0
setp genserkins.ALPHA-1 -1.570796326
setp genserkins.ALPHA-2 0
setp genserkins.ALPHA-3 -1.570796326
setp genserkins.ALPHA-4 1.570796326
setp genserkins.ALPHA-5 -1.570796326

setp genserkins.D-0 350
setp genserkins.D-1 0
setp genserkins.D-2 0
setp genserkins.D-3 425
setp genserkins.D-4 0
# 85 for Handflange as in the tutorial
#setp genserkins.D-5 85
# 85 + 150 for toolholder and tool as in the vismach simulation
setp genserkins.D-5 235