From 8b9b72e78fd6a3ed8dfd0f1443bd2796d0c5968a Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Sat, 3 May 2025 12:48:01 -0500 Subject: [PATCH] Add dummy link for effector --- src/arm_pkg/arm_pkg/astra_arm.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/arm_pkg/arm_pkg/astra_arm.py b/src/arm_pkg/arm_pkg/astra_arm.py index 5dd835e..c0bcd9e 100644 --- a/src/arm_pkg/arm_pkg/astra_arm.py +++ b/src/arm_pkg/arm_pkg/astra_arm.py @@ -15,7 +15,7 @@ degree = pi / 180.0 def convert_angles(angles): # Converts angles to the format used for the urdf (contains some dummy joints) - return [0.0, angles[0]*degree, angles[1]*degree, 0.0, angles[2]*degree, 0.0, angles[3]*degree, 0.0, angles[4]*degree, angles[5]*degree] + return [0.0, angles[0]*degree, angles[1]*degree, 0.0, angles[2]*degree, 0.0, angles[3]*degree, 0.0, angles[4]*degree, angles[5]*degree, 0.0] class Arm: