Merge branch 'panda_cleanup_ws' of https://github.com/StanfordVL/perls2…

… into panda_cleanup_ws
StanfordVL · Mar 1, 2021 · fe68a2d · fe68a2d
2 parents f63383b + bc03f35
commit fe68a2d
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/perls2/controllers/ee_imp.py b/perls2/controllers/ee_imp.py
@@ -123,7 +123,10 @@ def __init__(self,
         self.output_min = np.array(output_min)
 
         # limits
-        self.position_limits = position_limits
+        if position_limits is not None:
+            self.position_limits = np.array(position_limits)
+        else:
+            self.position_limits = position_limits
         self.orientation_limits = orientation_limits
 
         # kp kv