我想要一段机器人逆解的python代码

以下是一个简单的机器人逆解的Python代码示例：

import numpy as np

# 定义机器人的DH参数，例如：
dh_params = np.array([
    [0, 0, 0.1, 0],
    [0, 0, 0.2, np.pi/2],
    [0, 0, 0.3, 0],
    [0, 0, 0.1, np.pi/2],
    [0, 0, 0.1, -np.pi/2],
    [0, 0, 0.1, 0]
])

# 定义正向运动学函数
def forward_kinematics(theta):
    T = np.eye(4)
    for i in range(len(theta)):
        T_i = np.array([
            [np.cos(theta[i]), -np.sin(theta[i]) * np.cos(dh_params[i, 3]), np.sin(theta[i]) * np.sin(dh_params[i, 3]), dh_params[i, 0] * np.cos(theta[i])],
            [np.sin(theta[i]), np.cos(theta[i]) * np.cos(dh_params[i, 3]), -np.cos(theta[i]) * np.sin(dh_params[i, 3]), dh_params[i, 0] * np.sin(theta[i])],
            [0, np.sin(dh_params[i, 3]), np.cos(dh_params[i, 3]), dh_params[i, 2]],
            [0, 0, 0, 1]
        ])
        T = np.dot(T, T_i)
    return T

# 定义逆向运动学函数
def inverse_kinematics(pos, ori):
    # 计算第6关节的位置
    p6 = np.array([pos[0], pos[1], pos[2] - dh_params[5, 2]])
    
    # 计算第1~5关节的位置
    d6 = dh_params[5, 0]
    p1 = p6 - d6 * ori[:, 2]
    
    d1 = dh_params[0, 0]
    p2 = p1 - d1 * ori[:, 0]
    
    d3 = dh_params[2, 2]
    p3 = p2 - d3 * ori[:, 1]
    
    d4 = dh_params[3, 2]
    p4 = p3 + d4 * ori[:, 0]
    
    d5 = dh_params[4, 2]
    p5 = p4 - d5 * ori[:, 1]
    
    # 计算关节角度
    theta1 = np.arctan2(p2[1], p2[0])
    theta2 = np.arctan2(np.sqrt(p2[0]**2 + p2[1]**2) - dh_params[0, 0], p2[2])
    theta3 = np.arctan2(np.sqrt(p3[0]**2 + p3[1]**2), p3[2] - dh_params[1, 2])
    theta4 = np.arctan2(p4[1], p4[0])
    theta5 = np.arctan2(np.sqrt(p5[0]**2 + p5[1]**2) - dh_params[3, 0], p5[2] - dh_params[2, 2])
    
    return np.array([theta1, theta2, theta3, theta4, theta5, 0])

# 测试逆向运动学函数
pos = np.array([0.3, 0.2, 0.4])
ori = np.array([
    [-1, 0, 0],
    [0, 0, 1],
    [0, 1, 0]
])
theta = inverse_kinematics(pos, ori)
print(theta)