import math


def define_joint_angle_list(shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint):
    """
    This function takes float values for each joint and returns a list.
    :param shoulder_pan_joint: shoulder pan joint angle
    :param shoulder_lift_joint: shoulder lift join angle
    :param elbow_joint: elbow joint angle
    :param wrist_1_joint: wrist 1 joint angle
    :param wrist_2_joint: wrist 2 joint angle
    :param wrist_3_joint: wrist 3 joint angle
    :return: list of all joint angles
    """

    joint_angles = [math.radians(shoulder_pan_joint),
                          math.radians(shoulder_lift_joint),
                          math.radians(elbow_joint),
                          math.radians(wrist_1_joint),
                          math.radians(wrist_2_joint),
                          math.radians(wrist_3_joint)]
    return joint_angles