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Convert angles to radians for IK

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This commit is contained in:
Tristan McGinnis
2025-05-03 12:43:17 -05:00
committed by David
parent 2860463501
commit c9533e3f55
3 changed files with 316 additions and 18 deletions
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11
src/arm_pkg/arm_pkg/arm_node.py
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@@ -63,7 +63,7 @@ class SerialRelay(Node):
self.arm_feedback = SocketFeedback()
self.digit_feedback = DigitFeedback()
self.arm = astra_arm.Arm('arm11.urdf')
self.arm = astra_arm.Arm('arm12.urdf')
self.arm_feedback = SocketFeedback()
########
@@ -168,22 +168,13 @@ class SerialRelay(Node):
angles[0] = 0.0
#
#
#
#THIS NEEDS TO BE REMOVED LATER
#PLACEHOLDER FOR WRIST VALUE
#
##
#
#
#
angles.append(0.0)
#
#
#
#
#
##
#
# Update the arm's current angles
self.arm.update_angles(angles)
self.arm_feedback.axis0_angle = angles[0]