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修复控制

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This commit is contained in:
1002142102@qq.com
2025-12-09 16:28:18 +08:00
parent cc79fb5656
commit 7eb48bfa8f
2 changed files with 4 additions and 6 deletions
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2
realman.yml
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@@ -1,5 +1,5 @@
type: realman type: realman
port: 192.168.3.18:8080 port: 127.0.0.1:8800
mock: False mock: False
mode: 1 mode: 1
gripper_range: gripper_range:

8
robot_client/robots/realman/motors_bus.py
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@@ -224,11 +224,9 @@ class RealmanMotorsBus(MotorsBus):
values = list(actionData.values()) values = list(actionData.values())
for k,v in enumerate(self.init_pose): for k,v in enumerate(self.init_pose):
self.init_pose[k]+=values[k] self.init_pose[k]+=values[k]
values[-1] self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
self.rmarm.rm_movev_canfd(self.init_pose[:6]) self.init_pose[6]+=actionData['gripper']
#把夹爪的输入范围-1到1映射为0到1 self.rmarm.rm_set_gripper_position(self.init_pose[6]*1000, False)
gripper = (actionData['gripper']+1)/2
self.rmarm.rm_set_gripper_position(gripper*1000, False)
def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0): def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0):
if data_name == "Present_Position": if data_name == "Present_Position":