"""使用交付默认规划参数在当前末端附近直线移动 5 mm;无自动碰撞检测."""
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")
        current = arm.get_end_pose()
        target = current.model_copy(update={"z_m": current.z_m + 0.005})
        arm.move_to_pose_linear(target, speed_percent=20, mode="pos_vel")
        print("运动完成,实际末端位姿:", arm.get_end_pose())


if __name__ == "__main__":
    main()