import lebai_sdk

# 设备发现
print(lebai_sdk.discover_devices(2))

lebai = lebai_sdk.connect("127.0.0.1", True)

# start_sys
lebai.call("start_sys", "{}")

jPose_1 = [0,-0.7854,1.57,-0.7854,1.57,0]
cPose_1 = {"x":-0.565,"y":-0.12,"z":0.13,"rz":-1.57,"ry":0,"rx":1.57}
jPose_2 = [0,-0.566,1.12,-0.55,1.57,0]
cPose_2 = {"x":-0.64,"y":-0.12,"z":0.13,"rz":-1.57,"ry":0,"rx":1.5}

lebai.movej(jPose_1, 0, 0, 3)
lebai.movel(cPose_2, 0, 0, 3)

lebai.movej(cPose_1, 0, 0, 3)
lebai.movel(jPose_2, 0, 0, 3)

print(lebai.kinematics_forward(jPose_1))
print(lebai.kinematics_inverse(cPose_1))
print(lebai.kinematics_inverse(jPose_2))
print(lebai.kinematics_forward(cPose_2))
