63 Commits

Author	SHA1	Message	Date
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
Tristan McGinnis	f00a7d21ce	Fix: arm angle feedback working	2025-07-23 23:01:26 -05:00
Tristan McGinnis	27cf4d9982	debug print for arm_node socket_pub_callback	2025-07-23 23:00:56 -05:00
Tristan McGinnis	9826b39e7e	Fix: arm feedback through anchor	2025-07-23 23:00:21 -05:00
Tristan McGinnis	0c3f27667a	SIGSTP no longer does sys.exit()	2025-07-23 22:59:45 -05:00
Tristan McGinnis	8c4f75f75e	feat: nodes should die entirely if no MCU found ... This should allow anchor to restart automatically if it's being run as a service	2025-07-23 22:59:45 -05:00
Tristan McGinnis	f12daff861	feat: fully remove socket_feedback class	2025-07-23 22:59:45 -05:00
ASTRA-SHC	e059f5cfec	nuking socket feedback class	2025-07-23 22:59:45 -05:00
Tristan McGinnis	b6348e4c00	temp: print statements	2025-07-23 22:59:11 -05:00
Tristan McGinnis	99916b317f	temp: raw angle output arm_node	2025-07-23 22:58:54 -05:00
Tristan McGinnis	5fc704dbc4	fix: proper astra_arm import for arm_node	2025-07-23 22:58:54 -05:00
Tristan McGinnis	f4a611567e	feat: IK result calculated and sent to MCU	2025-07-23 22:58:54 -05:00
Tristan McGinnis	9dacdfb385	refactor: feedback record helper functions	2025-07-23 22:58:06 -05:00
Tristan McGinnis	a417034436	fix: update socketFeedback() class	2025-07-23 22:56:54 -05:00
Tristan McGinnis	85a231478e	feat: All feedback for socket, early ik implement	2025-07-23 22:56:54 -05:00
Tristan McGinnis	ec3b95944d	Add helper functions to arm class	2025-07-23 22:51:56 -05:00
Tristan McGinnis	0adab485f2	Add urdf folder and arm11.urdf	2025-07-23 22:51:56 -05:00
ASTRA	ddb6d672ad	Increase arm feedback freq	2025-05-31 10:01:33 -05:00
David Sharpe	6f80d628b1	fix: arm brake mode now casts correctly	2025-05-31 09:51:05 -05:00
Tristan McGinnis	d4543a224a	digit linear actuator control	2025-05-30 23:58:57 -06:00
David	fd240cf160	feat: add rev feedback and brake mode for arm	2025-05-31 01:56:50 +00:00
Tristan McGinnis	a700fd546c	Update arm_headless.py, remove read_feedback()	2025-05-30 19:48:41 -06:00
David	dad0590dca	fix: msg.split not msg.data.split	2025-05-29 05:07:54 +00:00
David	39f2aa3a18	fix: msg.split to msg.data.split	2025-05-26 02:55:14 +00:00
David	76ca9d81b2	feat: actually add digit feedback	2025-05-23 22:42:12 +00:00
David	fa057bb4ac	feat: add digit voltage feedback	2025-05-23 06:19:20 +00:00
Tristan McGinnis	f70d56faf9	undo override for axis0 encoder feedback	2025-05-16 14:18:44 -05:00
Tristan McGinnis	ded9d5ac78	invert axis1 manual control direction	2025-05-16 11:06:28 -05:00
Tristan McGinnis	26212a8372	arm node reference corrections	2025-05-15 19:40:41 -05:00
Tristan McGinnis	1bec46e3e2	add feedback in from existing code	2025-05-15 17:37:10 -05:00
Tristan McGinnis	c5cc167891	consolidate manual control commands	2025-05-15 16:52:41 -05:00
Tristan McGinnis	f160bb6360	Revert "add back in anchor feedback" ... This reverts commit 5a120da1df.	2025-05-03 18:03:24 -05:00
Tristan McGinnis	732cb8c1b5	Revert "add anchor relay to feedback topics for bio,arm,core" ... This reverts commit d38a84abca.	2025-05-03 18:03:12 -05:00
Tristan McGinnis	d38a84abca	add anchor relay to feedback topics for bio,arm,core	2025-05-03 16:58:10 -05:00
Tristan McGinnis	5a120da1df	add back in anchor feedback	2025-05-03 16:40:30 -05:00
Tristan McGinnis	fe7e00d7b8	update arm CAN command	2025-02-25 11:08:11 -06:00
Tristan McGinnis	f456aa732c	lower deadzone for arm headless	2025-02-23 09:35:15 -06:00
Tristan McGinnis	2e73fd9c83	fix CAN commands	2025-02-22 02:52:51 -06:00