Record初步实现

robot_client/robots/realman/config.py

@@ -9,8 +9,12 @@ from lerobot.robots.config import RobotConfig
 class RealmanRobotConfig(RobotConfig):
     # Port to connect to the arm
     port: str
+    mock: bool = field(default_factory=bool)\
+    #0：关节角度透传模式 1:笛卡尔速度透传
+    mode: int = 0
     gripper_range: list[int] = field(default_factory=list)
     disable_torque_on_disconnect: bool = True
+    max_relative_target = None
     # cameras
     cameras: dict[str, RealSenseCameraConfig] = field(default_factory=dict)
     joint: list=field(default_factory=list)