fixed for new model
@@ -56,7 +56,7 @@ while not arrived:
omni.base = omni.fkine(omni.q, end=omni.links[2])
omni.q = omni.qz
base_new = frankie.fkine(frankie._q, end=frankie.links[2], fast=True)
- base_new[2, 3] -= 0.38
+ # base_new[2, 3] -= 0.38
frankie._base.A[:] = base_new
frankie.q[:2] = 0
