From bbedfc80a6e1aae297355167b6dd0f4153a0ddb2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20=C3=81ngel?=
 <66631229+gelanchez@users.noreply.github.com>
Date: Sun, 1 Jan 2023 18:08:49 +0100
Subject: [PATCH 1/2] Update fkine.m

Fixes https://github.com/petercorke/robotics-toolbox-matlab/issues/123
---
 demos/fkine.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/demos/fkine.m b/demos/fkine.m
index 0db5ba3d..fdf341b1 100644
--- a/demos/fkine.m
+++ b/demos/fkine.m
@@ -74,11 +74,11 @@
 xlabel('Time (s)');
 ylabel('X (m)')
 subplot(3,1,2)
-plot(t, p(:,1))
+plot(t, p(:,2))
 xlabel('Time (s)');
 ylabel('Y (m)')
 subplot(3,1,3)
-plot(t, p(:,1))
+plot(t, p(:,3))
 xlabel('Time (s)');
 ylabel('Z (m)')
 

From c9e799ebdb99e8dba7a87cf80744cc87ceab1264 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20=C3=81ngel?=
 <66631229+gelanchez@users.noreply.github.com>
Date: Sun, 1 Jan 2023 22:23:09 +0100
Subject: [PATCH 2/2] Update mdl_puma560.m

Update documentation to qs pose instead of qstretch
---
 models/mdl_puma560.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/models/mdl_puma560.m b/models/mdl_puma560.m
index 8f6b99e7..242ee4c6 100644
--- a/models/mdl_puma560.m
+++ b/models/mdl_puma560.m
@@ -7,7 +7,7 @@
 % Also define the workspace vectors:
 %   qz         zero joint angle configuration
 %   qr         vertical 'READY' configuration
-%   qstretch   arm is stretched out in the X direction
+%   qs         arm is stretched out in the X direction
 %   qn         arm is at a nominal non-singular configuration
 %
 % Notes::
@@ -146,7 +146,7 @@
 qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
 qr = [0 pi/2 -pi/2 0 0 0]; % ready pose, arm up
 qs = [0 0 -pi/2 0 0 0];
-qn=[0 pi/4 pi 0 pi/4  0];
+qn = [0 pi/4 pi 0 pi/4  0];
 
 p560 = SerialLink(L, 'name', 'Puma 560', ...
     'configs', {'qz', qz, 'qr', qr, 'qs', qs, 'qn', qn}, ...