diff --git a/src/roboticstoolbox/models/DH/AL5D.py b/src/roboticstoolbox/models/DH/AL5D.py
index 8da0fb24..942becc1 100644
--- a/src/roboticstoolbox/models/DH/AL5D.py
+++ b/src/roboticstoolbox/models/DH/AL5D.py
@@ -33,7 +33,7 @@ class AL5D(DHRobot):
 
     :References:
 
-        - 'Reference of the robot <http://www.lynxmotion.com/c-130-al5d.aspx>'_
+        - `Reference of the robot <http://www.lynxmotion.com/c-130-al5d.aspx>`_
 
     .. codeauthor:: Tassos Natsakis
     """  # noqa
@@ -85,7 +85,7 @@ def __init__(self, symbolic=False):
 
         links = []
 
-        for j in range(3):
+        for j in range(4):
             link = RevoluteMDH(
                 d=d[j],
                 a=a[j],
diff --git a/src/roboticstoolbox/models/DH/Hyper.py b/src/roboticstoolbox/models/DH/Hyper.py
index 1839b5f8..7609a600 100644
--- a/src/roboticstoolbox/models/DH/Hyper.py
+++ b/src/roboticstoolbox/models/DH/Hyper.py
@@ -69,10 +69,8 @@ def __init__(self, N=10, a=None, symbolic=False):
             links, name="Hyper" + str(N), keywords=("symbolic",), symbolic=symbolic
         )
 
-        self.qr = np.array(N)
         self.qz = np.zeros(N)
 
-        self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
 
 
diff --git a/src/roboticstoolbox/models/DH/Hyper3d.py b/src/roboticstoolbox/models/DH/Hyper3d.py
index 39605d43..1db19972 100644
--- a/src/roboticstoolbox/models/DH/Hyper3d.py
+++ b/src/roboticstoolbox/models/DH/Hyper3d.py
@@ -69,10 +69,8 @@ def __init__(self, N=10, a=None, symbolic=False):
             links, name="Hyper3d" + str(N), keywords=("symbolic",), symbolic=symbolic
         )
 
-        self.qr = np.array(N)
         self.qz = np.zeros(N)
 
-        self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
 
 
diff --git a/src/roboticstoolbox/models/DH/LWR4.py b/src/roboticstoolbox/models/DH/LWR4.py
index 9118bf89..5001a001 100755
--- a/src/roboticstoolbox/models/DH/LWR4.py
+++ b/src/roboticstoolbox/models/DH/LWR4.py
@@ -21,10 +21,7 @@ class LWR4(DHRobot):
 
     Defined joint configurations are:
 
-    - qz, zero joint angle configuration, 'L' shaped configuration
-    - qr, vertical 'READY' configuration
-    - qs, arm is stretched out in the X direction
-    - qn, arm is at a nominal non-singular configuration
+    - qz, zero joint angle configuration
 
     .. note:: SI units are used.
 
@@ -73,10 +70,8 @@ def __init__(self):
 
         # tool = xyzrpy_to_trans(0, 0, d7, 0, 0, -np.pi/4)
 
-        self.qr = np.array(7)
         self.qz = np.zeros(7)
 
-        self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
 
 
diff --git a/src/roboticstoolbox/models/URDF/Jaco.py b/src/roboticstoolbox/models/URDF/Jaco.py
index 1e79633b..87ed61b4 100644
--- a/src/roboticstoolbox/models/URDF/Jaco.py
+++ b/src/roboticstoolbox/models/URDF/Jaco.py
@@ -35,8 +35,10 @@ def __init__(self):
             gripper_link_index=9,
         )
 
-        self.qr = np.array([0, 45, 60, 0, 0, 0]) * np.pi / 180
-        self.qz = np.zeros(6)
+        # 6 arm joints + 4 gripper joints (2 fingers x [finger, finger_tip]),
+        # gripper joints left at 0 (fully open) for both named configurations
+        self.qr = np.array([0, 45, 60, 0, 0, 0, 0, 0, 0, 0]) * np.pi / 180
+        self.qz = np.zeros(10)
 
         self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
diff --git a/src/roboticstoolbox/models/URDF/px150.py b/src/roboticstoolbox/models/URDF/px150.py
index 0d0a4fbf..f1fef2e7 100644
--- a/src/roboticstoolbox/models/URDF/px150.py
+++ b/src/roboticstoolbox/models/URDF/px150.py
@@ -37,7 +37,7 @@ def __init__(self):
         )
 
         self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])
-        self.qz = np.zeros(7)
+        self.qz = np.zeros(8)
 
         self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
diff --git a/src/roboticstoolbox/models/URDF/rx150.py b/src/roboticstoolbox/models/URDF/rx150.py
index 3cb394eb..a0ff5760 100644
--- a/src/roboticstoolbox/models/URDF/rx150.py
+++ b/src/roboticstoolbox/models/URDF/rx150.py
@@ -37,7 +37,7 @@ def __init__(self):
         )
 
         self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])
-        self.qz = np.zeros(7)
+        self.qz = np.zeros(8)
 
         self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
diff --git a/src/roboticstoolbox/models/URDF/rx200.py b/src/roboticstoolbox/models/URDF/rx200.py
index 8424f731..6382837e 100644
--- a/src/roboticstoolbox/models/URDF/rx200.py
+++ b/src/roboticstoolbox/models/URDF/rx200.py
@@ -37,7 +37,7 @@ def __init__(self):
         )
 
         self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])
-        self.qz = np.zeros(7)
+        self.qz = np.zeros(8)
 
         self.addconfiguration("qr", self.qr)
         self.addconfiguration("qz", self.qz)
diff --git a/src/roboticstoolbox/robot/BaseRobot.py b/src/roboticstoolbox/robot/BaseRobot.py
index 8ebc703f..1d9673bb 100644
--- a/src/roboticstoolbox/robot/BaseRobot.py
+++ b/src/roboticstoolbox/robot/BaseRobot.py
@@ -1725,7 +1725,7 @@ def addconfiguration_attr(self, name: str, q: ArrayLike, unit: str = "rad"):
         self._configs[name] = v
         setattr(self, name, v)
 
-    def addconfiguration(self, name: str, q: NDArray):
+    def addconfiguration(self, name: str, q: ArrayLike):
         """
         Add a named joint configuration
 
@@ -1751,7 +1751,7 @@ def addconfiguration(self, name: str, q: NDArray):
 
         """
 
-        self._configs[name] = q
+        self._configs[name] = np.array(getvector(q, self.n))
 
     def configurations_str(self, border="thin"):
         deg = 180 / np.pi