From bc03f352d3ed03613f1f0485aabb3e2a31713936 Mon Sep 17 00:00:00 2001
From: test <test>
Date: Mon, 1 Mar 2021 11:18:30 -0800
Subject: [PATCH] Fix ee_imp pos limit type

position limits set by redis are usually formatted as lists, whereas those set directly by perls2.RobotInterface are ndarrays. Checks type before processing.
---
 perls2/controllers/ee_imp.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/perls2/controllers/ee_imp.py b/perls2/controllers/ee_imp.py
index 82f449df..48346426 100644
--- 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