craic/tools/.udp_control_state.json at 7accfc617e585573b361df699656318e9eb1c288 - craic - Gitea: Git with a cup of tea

fallensigh/craic

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FallenSigh 7accfc617e Refactor arm UDP controller with user-space height coordinates and gripper toggle

- Switch height to user coordinates (0=top, 290=bottom mm), invert sign
  internally for UDP protocol
- Replace raw --j5 arg with --up flag (gripper up/down toggle)
- Add default geometry constants (L1, L2, X4, Z4) and gripper
  open/closed angles
- Update --show-fk and pose mode to derive Z4 from gripper state
- Add mm unit annotations to all CLI help text and output
- Update cached joint state to match new coordinate convention
- Add camera_capture.py: single-shot JPEG grabber from ESP32 MJPEG stream
- Fix missing newline at EOF in craic.md

2026-06-15 21:33:47 +08:00

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 {
   "height": -290,
   "j2": -66,
   "j3": 145,
   "j4": -44,
   "j5": -100,
   "j6": 0
 }