[Jorge]

I`ve downloaded the Franka Emika Robot from the Robot Library. When I try to plot the robot for a joint position, I don't see the correct pose representation in RoboDK. Maybe there is a wrong joint definition in the Franka Emika Robot that was uploaded in the Robot Library.

I have also tested in Matlab, using Peter Corke's toolbox. The representation in Matlab is correct, but the representation in RoboDK is incorrect. I share here the script in Matlab:

L1 = 0.333;
L2 = 0.316;
L3 = 0.0825;
L4 = 0.384;
L5 = 0.088;
L6 = 0.107;

L(1) = Link('revolute','d',L1,'a',0,'alpha',-pi/2);
L(2) = Link('revolute','d',0,'a',0,'alpha',pi/2);
L(3) =链接(“转动”,“d”,L2,‘‘,L3,“阿尔法”,π/ 2);
L(4) = Link('revolute','d',0,'a',-L3,'alpha',-pi/2);
L(5) = Link('revolute','d',L4,'a',0,'alpha',pi/2);
L(6) = Link('revolute','d',0,'a',L5,'alpha',pi/2);
L(7) = Link('revolute','d',L6,'a',0,'alpha',0);

R = SerialLink(L);
R.name = 'Franka';
q = [0 -pi/4 0 -3*pi/4 0 pi/2 pi/4];
R.plot(q)