add configurations to YuMi
@@ -78,9 +78,9 @@ class YuMi(ERobot):
self.grippers[0].tool = sm.SE3.Tz(0.13)
self.grippers[1].tool = sm.SE3.Tz(0.13)
- # self.addconfiguration("qz", np.zeros((14,)))
- # self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4]))
-
+ self.addconfiguration("qz", np.zeros((14,)))
+ self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4]))
+ self.addconfiguration("q1", [0, -0.4, 0, 0, 0, 0, 0, 0, -0.4, 0, 0, 0, 0, 0])
if __name__ == "__main__": # pragma nocover
