| #!/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() | |