| |
| """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() |
|
|
