feat: Implement UDP feedback for RM75 robot arms

2026-07-29 15:26:59 +08:00
parent 687a0b401a
commit 08996434e5
16 changed files with 1600 additions and 329 deletions
@@ -50,6 +50,9 @@ def main() -> None:
        drift_degrees = float(
            np.max(np.abs(np.rad2deg(np.asarray(joints) - initial_joints)))
        )
+        assert drift_degrees <= 0.05, (
+            f"{arm} stationary target drifted {drift_degrees:.3f}deg"
+        )

        solver = PlacoIkSolver(str(urdf_path), 1.0 / 125.0)
        joints = initial_joints.tolist()