Changes to Step #4

Edit by Dan Royer —

Edit approved by Dan Royer

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[title] Adjusting new DH parameters
[* 1] The DH parameters will be wildly different from your new model.
[* 2] Starting from the first joint, locate the ***DHParameter*** node.
[* 3] Adjust the ++d, theta, r, alpha++ values to match your new robot arm. You will see the blue and red lines change.
-[* 11] The sequence of moves is always translate along z (d), rotate around z (theta), translate along x (r), and rotate around x (alpha). [link|https://www.youtube.com/watch?v=nuB_7BkYNMk|See this video for more information].
-[* 4] If you now attempt to move the arm, mesh files will still move incorrectly. Press ++To Pose++ to fix them.
-[* 9] Only do this at the starting position.
+[* 11] The sequence of moves is always translate along z (d), rotate around z (theta), translate along x (r), and rotate around x (alpha). [link|https://www.youtube.com/watch?v=nuB_7BkYNMk|See this video for more information]. The DH point of rotation might be somewhere unexpected, even outside the model. It is very possible to design robots that cannot fit in DH parameters, but that's a subject for another day.
+[* 4] If you now attempt to move the arm, mesh files will still move incorrectly. With the arm at the default position, Press ++To Pose++ to fix them.
+[* 9] Only use ***To Pose*** at the starting position.
[* 5] When you are done it should look like this. Colors should be correct and moving should work correctly.
+[* 10] Make sure the End Effector at the last link has the blue line (Z) pointing out of the hand. This way tools will attach correctly.