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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 | #!/usr/bin/env python3
"""读取 RM65 当前关节角（度），用于配置 rm65_home_joints.yaml。"""
from sendrobot.send_robot.rm_ik import RM65Kinematics
def main() -> None:
kin = RM65Kinematics()
kin.connect()
joints = kin.get_current_joints_deg()
pose = kin.get_current_pose()
kin.disconnect()
rounded = [round(q, 3) for q in joints]
print("当前关节角 (deg):", rounded)
print("当前末端 pose [x,y,z,rx,ry,rz]:", [round(v, 4) for v in pose])
print()
print("请将下列内容写入 scripts/rm65_home_joints.yaml:")
print(f"home_joints_deg: {rounded}")
if __name__ == "__main__":
main()
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