fixed named configs
@@ -78,10 +78,8 @@ 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(
+ self.qz = np.zeros(14)
+ self.qr = np.array(
[
0,
-0.3,
@@ -98,8 +96,10 @@ class YuMi(ERobot):
2.0,
np.pi / 4,
]
- ),
)
+
+ self.logconfiguration("qz", self.qz)
+ self.logconfiguration("qr", self.qr)
self.addconfiguration("q1", [0, -0.4, 0, 0, 0, 0, 0, 0, -0.4, 0, 0, 0, 0, 0])
