Add nominal configuration

petercorke · petercorke · commit 4f62f92b8e76 · 2021-03-30T13:56:32.000+10:00
diff --git a/roboticstoolbox/models/URDF/UR5.py b/roboticstoolbox/models/URDF/UR5.py
@@ -42,6 +42,8 @@ def __init__(self):
         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
 
