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ef2a612 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 | #!/usr/bin/env python3
"""Quick IK probe at current pose."""
from sendrobot.send_robot.rm_ik import RM65Kinematics
def main() -> None:
kin = RM65Kinematics(ip="192.168.73.18", port=8080)
kin.connect()
ref = kin.get_current_joints_deg()
pose = kin.get_current_pose()
step = 0.003 * 0.08
print("joints:", [round(q, 2) for q in ref])
print("pose:", [round(p, 4) for p in pose])
print("teleop step m:", step)
for axis, idx in [("x", 0), ("y", 1), ("z", 2)]:
target = list(pose)
target[idx] += step
q = kin.try_inverse_kinematics(target, ref)
if q:
deltas = [round(q[i] - ref[i], 4) for i in range(6)]
print(f"base +{axis}: OK joint_delta={deltas}")
else:
print(f"base +{axis}: FAIL")
for name, dx, dy, dz in [("tool x", step, 0, 0), ("tool y", 0, step, 0), ("tool z", 0, 0, step)]:
target = kin.tool_delta_to_pose(ref, dx, dy, dz)
q = kin.try_inverse_kinematics(target, ref)
print(f"{name}: {'OK' if q else 'FAIL'}")
kin.disconnect()
if __name__ == "__main__":
main()
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