Add nominal configuration
@@ -42,6 +42,8 @@ class UR5(ERobot):
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi/2, 0]))
+ # sol=robot.ikine_LM(SE3(0.5, -0.2, 0.2)@SE3.OA([1,0,0],[0,0,-1]))
+ self.addconfiguration("qn", np.array([-7.052413e-01, 3.604328e-01, -1.494176e+00, 1.133744e+00, -7.052413e-01, 0]))
if __name__ == '__main__': # pragma nocover
