From 9f8f51b742f09c7ebc8838e6ce0b2861b69144b6 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Sat, 3 May 2025 12:50:12 -0500 Subject: [PATCH] Fix: missed a spot --- src/arm_pkg/arm_pkg/astra_arm.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/arm_pkg/arm_pkg/astra_arm.py b/src/arm_pkg/arm_pkg/astra_arm.py index c0bcd9e..a61bd3a 100644 --- a/src/arm_pkg/arm_pkg/astra_arm.py +++ b/src/arm_pkg/arm_pkg/astra_arm.py @@ -29,8 +29,8 @@ class Arm: # Arrays for joint states # Some links in the URDF are static (non-joints), these will remain zero for IK - # Indexes: Fixed_base, Ax_0, Ax_1, seg1, Ax_2, seg2, ax_3, seg3, continuous, wrist - self.zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + # Indexes: Fixed_base, Ax_0, Ax_1, seg1, Ax_2, seg2, ax_3, seg3, continuous, wrist, Effector + self.zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] self.current_angles = self.zero_angles self.last_angles = self.zero_angles self.ik_angles = self.zero_angles