clear L
L(1) = Link([  0 0 0  0    0 1 0  0 -1 1 1 1 0 0 0 291e-6  -62.6111], 'modified');
L(2) = Link([  0 1 0 -pi/2 0 1 0  0 -1 1 1 1 0 0 0 409e-6  107.815], 'modified');
L(3) = Link([  0 0 0 pi/2  1 1 0  0 -1 1 1 1 0 0 0 299e-6  -53.7063], 'modified');
L(4) = Link([  0 0 0 0     0 1 0  0 -1 7 11 0.5 2 -3 -9 291e-6 -62.6111], 'modified');
L(5) = Link([  0 0 0 -pi/2 0 1 0  0  1 3 4 2 6 3 5 409e-6  107.815], 'modified');
L(6) = Link([  0 1 0 pi/2  0 1 0  0 -1 1 1 1 0 0 0 299e-6  -53.7063], 'modified');
stanm = SerialLink(L, 'name', 'stanford');