How to move joints of a new robot to verfiy it's motions?

from pyquaternion import Quaternion
import numpy as np

#units are mm and rads

a1p=np.array([0, 0, 225.60], dtype=np.double) #x,y,z from machine origin to any point on the A1 Axis
a2p=np.array([350.00, 0, 449.40], dtype=np.double) #x,y,z a1p to any point on the A2 Axis
a3p=np.array([0, 0, 1150.00], dtype=np.double) #x,y,z a2p to any point on the A3 Axis
a4p=np.array([1200,0,-41], dtype=np.double) #x,y,z a3p to any point on the A4 Axis
a5p=np.array([0, 0, 0], dtype=np.double) #x,y,z a4p to any point on the A5 Axis
a6p=np.array([0, 0, 0], dtype=np.double) #x,y,z a5p to any point on the A6 Axis
eulerp=np.array([1200,0,-41]) #from a3p to euler point
tcp=np.array([688,0,0]) #from eulerp to tcp

#axes of rotation when all are zero

a1a=[0,0,1]
a2a=[0,-1,0]
a3a=[0,1,0]
a4a=[1,0,0]
a5a=[0,-1,0]
a6a=[1,0,0]


def forward(a1,a2,a3,a4,a5,a6):
    #Quaternions
    
    a1q=Quaternion(axis=a1a, angle=a1)
    a2q=a1q*Quaternion(axis=a2a, angle=a2)
    a3q=a2q*Quaternion(axis=a3a, angle=a3)
    a4q=a3q*Quaternion(axis=a4a, angle=a4)
    a5q=a4q*Quaternion(axis=a5a, angle=a5)
    a6q=a5q*Quaternion(axis=a6a, angle=a6)

    #Rotations
    a2pr=a1q.rotate(a2p)
    a3pr=a2q.rotate(a3p)
    eulerpr=a3q.rotate(eulerp)
    #a5pr=a4q.rotate(a5p)
    #a6pr=a5q.rotate(a6p)
    tcpr=a6q.rotate(tcp)

    #position of end effector
    pos=a1p+a2pr+a3pr+eulerpr+tcpr

    return(pos)


def inv(target,targetx,targety):
    #Find frame 6 quat
    #1st quat
    angle=ang((1,0,0),targetx)
    axis=np.cross((1,0,0),targetx)
    quat61=Quaternion(axis=axis, angle=angle)
    #print(angle)
    #print(axis)

    #2nd quat
    yrot=quat61.rotate((0,1,0))
    angle=ang(yrot,targety)
    axis=quat61.rotate((1,0,0))
    quat62=Quaternion(axis=axis, angle=angle)

    #total quat
    quat6=quat62*quat61

    #Find Euler point
    tcpr=quat6.rotate(tcp)
    eulerloc=target-tcpr
    #print(eulerloc)

    a1=ang((1,0,0),(eulerloc[0],eulerloc[1],0))

    #Find a2
    a1q=Quaternion(axis=a1a, angle=a1)
    a2pr=a1q.rotate(a2p)
    a,b,c=sss(a3p,eulerp,eulerloc-a1p-a2pr)
    a2=b-ang((0,0,1),(eulerloc-a1p-a2pr))

    #find a3
    a3=np.pi/2+np.arctan(eulerp[2]/eulerp[0])-c

    #find a4
    a1q=Quaternion(axis=a1a, angle=a1)
    a2q=a1q*Quaternion(axis=a2a, angle=a2)
    a3q=a2q*Quaternion(axis=a3a, angle=a3)

    a4ar=a3q.rotate(a4a)
    v1=a3q.rotate((0,0,-1))
    a4=projang(v1,tcpr,a4ar)

    #find a5
    a4q=a3q*Quaternion(axis=a4a, angle=a4)

    a5ar=a4q.rotate(a5a)
    v1=a4q.rotate((1,0,0))
    a5=projang(v1,tcpr,a5ar)

    #find a6
    a5q=a4q*Quaternion(axis=a5a, angle=a5)

    a6ar=a5q.rotate(a6a)
    v1=a5q.rotate((0,1,0))
    a6=projang(v1,targety,a6ar)

    return(a1,a2,a3,a4,a5,a6)


def proj(v1,v2):
    return(v1-np.dot(v1,v2)/np.linalg.norm(v2)**2*np.array(v2))

def ang(v1,v2): #angle between vectors
    return(np.arccos(np.dot(v1, v2) / (np.linalg.norm(v1) * np.linalg.norm(v2))))

def projang(v1,v2,v3):  #project v1,v2 on to plane v3, then measure angle between
    proj1=proj(v1,v3)
    proj2=proj(v2,v3)
    angle=ang(proj1,proj2)
    sign=np.sign(np.dot(np.cross(proj1,proj2),v3))
    return(sign*angle)

def sss(p1,p2,p3):
    a=np.linalg.norm(p1)
    b=np.linalg.norm(p2)
    c=np.linalg.norm(p3)

    ang1=np.arccos(
    (-a**2+b**2+c**2)/
    (2*b*c)
    )
    
    ang2=np.arccos(
    (a**2-b**2+c**2)/
    (2*a*c)
    )

    ang3=np.arccos(
    (a**2+b**2-c**2)/
    (2*a*b)
    )

    return(ang1,ang2,ang3)