"""从当前姿态小幅移动 j3;运行前确认工作空间安全."""
from libark.robot.hw1.arm import Arm


def main() -> None:
    with Arm("left") as arm:
        arm.enable()
        state = arm.get_state()
        if not state.ok:
            raise RuntimeError("反馈不完整,请联系技术支持")
        target = list(state.q7)
        target[2] += 0.02  # j3,rad;其他轴保持读取到的位置
        arm.move_joints(target, speed_percent=20)
        print("结束位置:", arm.get_state().pos)


if __name__ == "__main__":
    main()