100 Commits

Author	SHA1	Message	Date
David	13419e97c9	refactor: (arm) cleanup old standalone serial code ... Removed literally 100 lines	2026-02-04 04:26:50 -06:00
David	8f9a2d566d	style: (arm) format with black (oops)	2026-02-04 04:00:17 -06:00
David	073b9373bc	feat: (arm) add new feedback topic	2026-02-04 04:00:17 -06:00
David	5a4e9c8e53	feat: (arm) add VicCAN feedback section for Digit alongside Socket	2026-02-04 04:00:17 -06:00
David	292873a50a	refactor: (arm) move joint position feedback to VicCAN callback	2026-02-04 04:00:17 -06:00
David	78fef25fdd	fix: (arm) get joint velocity feedback correctly	2026-02-04 04:00:17 -06:00
David	cf4a4b1555	feat: (arm) switch IK control from position to velocity	2026-02-04 04:00:17 -06:00
David	dbbbc28f95	feat: (arm) add rev velocity feedback	2026-02-04 04:00:17 -06:00
David	8250b91c57	feat: (arm) begin adding VicCAN topics	2026-02-04 04:00:17 -06:00
David	ad0266654b	style: (arm) cleanup old topics	2026-02-04 04:00:17 -06:00
ryleu	d7fd133586	updated to astra_msgs	2025-11-06 21:35:47 -06:00
ryleu	c107b82a8d	reformat with black	2025-11-06 19:10:21 -06:00
David	4ce183773d	feat: finish removing old ikpy-based IK	2025-10-25 11:15:32 -05:00
ryleu	9125391de9	remove ikpy (and reformat the code files)	2025-10-25 11:15:31 -05:00
David Sharpe	d92ca3ae5a	fix: remove spaces from link names to support Jammy ... Viz doesn't work when the links have spaces in their names on Jammy ._.	2025-10-25 11:15:31 -05:00
David Sharpe	d72a9a3b5e	feat: make Moveit2 demo talk to arm_pkg	2025-10-25 11:15:31 -05:00
David Sharpe	2db9b67ebc	feat: add viz code from Tristan's ik_test and add CAD to URDF	2025-10-25 11:15:30 -05:00
David Sharpe	aa84667aab	feat: add depencies to packages.xml files, add packages to flake.nix	2025-10-17 18:06:54 -05:00
David	0e256c7d22	feat: add agpl-3.0-only license	2025-10-04 23:24:23 -05:00
David	49b8acc860	feat: control wrist yaw and roll at same time ... Also made start_rosbag.sh actually executable ._.	2025-09-15 11:43:22 -05:00
David	4e1e0e29dd	style: get ready for main	2025-08-12 08:49:12 -05:00
David	cdc2c7e703	refactor: post-comp IK testing	2025-07-24 00:07:06 -05:00
Tristan McGinnis	bd5c3c3c5a	print debug to screen & ik debug publisher	2025-07-23 23:08:26 -05:00
Tristan McGinnis	d270235088	add current angles to ik debug output	2025-07-23 23:08:26 -05:00
Tristan McGinnis	35208150ef	remove command send for perform_ik	2025-07-23 23:08:26 -05:00
Tristan McGinnis	2eb3c796ec	Doing testing for performance	2025-07-23 23:07:56 -05:00
Tristan McGinnis	da939cc381	No publishing controls, to view debug output	2025-07-23 23:07:23 -05:00
Tristan McGinnis	2c27c81dc5	update angles for IK when control command is sent	2025-07-23 23:07:23 -05:00
Tristan McGinnis	3288aea14c	revert changes for split	2025-07-23 23:07:23 -05:00
Tristan McGinnis	0416277cd9	attempting to fix split error	2025-07-23 23:07:23 -05:00
Tristan McGinnis	440a94f0cc	refactor some things, reenable feedback	2025-07-23 23:07:23 -05:00
Tristan McGinnis	9d13d487cb	Fixes for string splitting	2025-07-23 23:07:00 -05:00
Tristan McGinnis	0ea4c73876	comment out some stuff to test delays	2025-07-23 23:05:48 -05:00
Tristan McGinnis	43fdc7587a	send manual control debug print	2025-07-23 23:04:59 -05:00
Tristan McGinnis	53b4259ade	disable feedback	2025-07-23 23:04:41 -05:00
Tristan McGinnis	482bedbfaf	debug print for manual control	2025-07-23 23:04:41 -05:00
Tristan McGinnis	923dfa20ca	remove all debug publishing for arm	2025-07-23 23:04:06 -05:00
Tristan McGinnis	6a747f92fb	Fix: Add more dummy values to support new urdf	2025-07-23 23:03:44 -05:00
Tristan McGinnis	9f8f51b742	Fix: missed a spot	2025-07-23 23:03:44 -05:00
Tristan McGinnis	8b9b72e78f	Add dummy link for effector	2025-07-23 23:03:44 -05:00
Tristan McGinnis	c9533e3f55	Convert angles to radians for IK	2025-07-23 23:03:44 -05:00
ASTRA-SHC	2860463501	fixes and debug to ik- need to update the model	2025-07-23 23:03:23 -05:00
Tristan McGinnis	60952db588	swap to numpy arrays	2025-07-23 23:03:23 -05:00
Tristan McGinnis	3d18e20946	More fixes for arm_node.py	2025-07-23 23:03:23 -05:00
Tristan McGinnis	5eb9e8a2e3	add get_position_vector3()	2025-07-23 23:03:23 -05:00
Tristan McGinnis	c302626512	remove vector normalization- done on base station	2025-07-23 23:03:23 -05:00
Tristan McGinnis	5c41d66404	debug printing	2025-07-23 23:03:23 -05:00
Tristan McGinnis	dde9d61a33	fix formatting for anchor print statements in arm and core	2025-07-23 23:03:23 -05:00
Tristan McGinnis	3985c11ae2	Added debug output to /arm/feedback/debug for testing IK	2025-07-23 23:02:59 -05:00
Tristan McGinnis	4420e83981	remove debug print for arm_node	2025-07-23 23:01:26 -05:00