"m, r, and i" Parameters for Peter Corke's Robotics Toolbox

Getting "dynamic parameters (m, r, I) not set in link 1" error message, and have no idea what they are. My DH parameters have been set and are correct, any ideas?

Cheers

[Sargondjani]

I think you need to be more specific what you are doing... otherwise its hard to guess whats going on.

[Joe Bennet]

clc, clear, close all
I=5000; %Max iterations
L(1)= Link([0 75e-3 0 -pi/2], 'modified', 'm', [24e-3], 'r', [0 37.5e-3 0], 'I', [0 35 0]);
L(2)= Link([0 0 125e-3 0], 'modified', 'I', [0 0.15 0], 'm', 66e-3, 'r', [0 62.5e-3 0]);
L(3)= Link([0 0 72.1e-3 -pi/2], 'modified', 'I', [0 0.30 0], 'm', 21e-3, 'r', [0 36.05e-3 0]);
L(4)= Link([0 86.4e-3 0 -pi/2], 'modified', 'I', [0 0.20 0], 'm', 23e-3, 'r', [0 43.2e-3 0]);
L(5)= Link([0 0 40e-3 0], 'modified', 'I', [0 0.15 0], 'm', 11e-3, 'r', [0 20e-3 0]);

qn= [0, pi/4, -pi, pi/4, 0]; %Nominal, dexterous position
qz= [0, 0, 0, 0, 0]; %Zero angle
qr= [0, pi/2, -pi/2, 0, 0]; %Ready, straight & vertical
qs= [0, 0, -pi/2, 0, 0]; %Straight, straight & horizontal

G04= SerialLink(L, 'name', 'G04');
L.dyn()

This is my code, but I doesnt set the Mass, Center of Gravity or Inertia for the links. Hope you can help! :)