new sixes

content/posts/delta-robot/index.md

@@ -19,18 +19,18 @@ An open source ROS package for controlling delta robots with forward and inverse
 The robot's forward and inverse kinematics were first implemented in a [jupyter notebook](https://github.com/Sharwin24/DeltaRobot/blob/main/delta_kinematics.ipynb) to visualize the robot's configuration space and workspace.
 
 <div align="center">
-  <img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; height: 200px; margin-left: 5px; display: inline-block;">
-  <img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; height: 200px; margin-right: 5px; display: inline-block;">
+  <img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; width: 45%; margin-left: 5px; display: inline-block;">
+  <img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; width: 45%; margin-right: 5px; display: inline-block;">
 </div>
 
 The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. Access to the kinematics lets us plan paths in the joint space significantly easier and safer since the workspace is irregular. Once a joint trajectory is planned, the path can be verified to stay in the workspace
 
 <!-- <div align="center">
-  <iframe src="workspace.html" width="800" height="600" style="border:none;"></iframe>
+  <iframe src="static/workspace.html" width="800" height="600" style="border:none;"></iframe>
 </div> -->
 
 <div align="center">
-  <img src="workspace.png" alt="Delta Robot Workspace" style="border-radius: 15px; height: 200px; margin-left: 5px; display: inline-block;">
+  <img src="workspace.png" alt="Delta Robot Workspace" style="border-radius: 15px; width: 50%; margin-left: 5px; display: inline-block;">
 </div>
 
 <div>