From 7eb48bfa8f1295b3826c5c0ecec8b6c8796ff610 Mon Sep 17 00:00:00 2001
From: "1002142102@qq.com" <1002142102@qq.com>
Date: Tue, 9 Dec 2025 16:28:18 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E6=8E=A7=E5=88=B6?=
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---
 realman.yml                               | 2 +-
 robot_client/robots/realman/motors_bus.py | 8 +++-----
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/realman.yml b/realman.yml
index e710986b..ff7e1f1e 100644
--- a/realman.yml
+++ b/realman.yml
@@ -1,5 +1,5 @@
 type: realman
-port: 192.168.3.18:8080
+port: 127.0.0.1:8800
 mock: False
 mode: 1
 gripper_range:
diff --git a/robot_client/robots/realman/motors_bus.py b/robot_client/robots/realman/motors_bus.py
index 87c491db..0b4925c4 100644
--- a/robot_client/robots/realman/motors_bus.py
+++ b/robot_client/robots/realman/motors_bus.py
@@ -224,11 +224,9 @@ class RealmanMotorsBus(MotorsBus):
             values = list(actionData.values())
             for k,v in enumerate(self.init_pose):
                 self.init_pose[k]+=values[k]
-            values[-1]
-            self.rmarm.rm_movev_canfd(self.init_pose[:6])
-            #把夹爪的输入范围-1到1映射为0到1
-            gripper = (actionData['gripper']+1)/2
-            self.rmarm.rm_set_gripper_position(gripper*1000, False)
+            self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
+            self.init_pose[6]+=actionData['gripper']
+            self.rmarm.rm_set_gripper_position(self.init_pose[6]*1000, False)
     
     def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0):
         if data_name == "Present_Position":