From b8a76bab6980f4c8dbd7ebbaf195c4bb69864e8c Mon Sep 17 00:00:00 2001
From: yutang <yt.li2@siat.ac.cn>
Date: Tue, 9 Dec 2025 14:29:12 +0800
Subject: [PATCH] xiufu

---
 realman.yml                               | 26 +++++++++++------------
 record.py                                 |  1 -
 robot_client/robots/realman/motors_bus.py |  6 ++++--
 robot_client/robots/realman/robot.py      |  2 +-
 test.py                                   | 10 +++++++++
 5 files changed, 28 insertions(+), 17 deletions(-)
 create mode 100644 test.py

diff --git a/realman.yml b/realman.yml
index 0a99cfee..e710986b 100644
--- a/realman.yml
+++ b/realman.yml
@@ -1,6 +1,6 @@
 type: realman
 port: 192.168.3.18:8080
-mock: True
+mock: False
 mode: 1
 gripper_range:
   - 10
@@ -9,31 +9,31 @@ motors:
   joint_1:
     id: 1
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_2: 
     id: 2
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_3: 
     id: 3
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_4: 
     id: 4
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_5: 
     id: 5
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   joint_6: 
     id: 6
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
   gripper: 
     id: 7
     model: realman
-    norm_mode: DEGREES
+    norm_mode: degrees
 # cameras:
 #   left:
 #     serial_number_or_name: 153122077516
@@ -54,10 +54,10 @@ motors:
 #     height: 480
 #     use_depth: False
 joint:
-  - -90
+  - 15
   - 90
-  - 90
-  - 90
-  - 90
-  - -90
+  - 10
+  - 80
+  - 110
+  - 0
   - 10
\ No newline at end of file
diff --git a/record.py b/record.py
index aac19fd0..91d3d0ff 100644
--- a/record.py
+++ b/record.py
@@ -79,7 +79,6 @@ from lerobot.datasets.utils import build_dataset_frame, combine_feature_dicts
 from lerobot.datasets.video_utils import VideoEncodingManager
 from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.policies.utils import make_robot_action
 from lerobot.processor import (
     PolicyAction,
     PolicyProcessorPipeline,
diff --git a/robot_client/robots/realman/motors_bus.py b/robot_client/robots/realman/motors_bus.py
index f7123329..44832b13 100644
--- a/robot_client/robots/realman/motors_bus.py
+++ b/robot_client/robots/realman/motors_bus.py
@@ -75,7 +75,7 @@ class RealmanMotorsBus(MotorsBus):
         if mock:
             self.rmarm = RoboticArmMock()
         else:
-            self.rmarm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
+            self.rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
         address  = port.split(':')
         self.ip = address[0]
         self.port = int(address[1])
@@ -103,6 +103,9 @@ class RealmanMotorsBus(MotorsBus):
         '''
         使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
         '''
+
+        self.handle = self.rmarm.rm_create_robot_arm(self.ip, self.port)
+        self.rmarm.rm_set_arm_run_mode(0)
         enable_flag = False
         loop_flag = False
         # 设置超时时间（秒）
@@ -140,7 +143,6 @@ class RealmanMotorsBus(MotorsBus):
                 break
             time.sleep(1)
         
-        self.handle = self.rmarm.rm_create_robot_arm(self.ip, self.port)
         self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1)
         time.sleep(3)
         ret = self.rmarm.rm_get_current_arm_state()
diff --git a/robot_client/robots/realman/robot.py b/robot_client/robots/realman/robot.py
index 3ca379a2..75d4bedf 100644
--- a/robot_client/robots/realman/robot.py
+++ b/robot_client/robots/realman/robot.py
@@ -68,7 +68,7 @@ class RealmanRobot(Robot):
                 "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
             )
             self.calibrate()
-        self.configure()
+        # self.configure()
         logger.info(f"{self} connected.")
     
     @property
diff --git a/test.py b/test.py
new file mode 100644
index 00000000..9f1f3dca
--- /dev/null
+++ b/test.py
@@ -0,0 +1,10 @@
+import time
+from Robotic_Arm.rm_robot_interface import *
+if __name__=="__main__":
+    rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
+    rmarm.rm_create_robot_arm("192.168.3.18", 8080)
+    rmarm.rm_set_arm_run_mode(0)
+    while True:
+        ret = rmarm.rm_get_arm_software_info()
+        print(ret)
+        time.sleep(1)
\ No newline at end of file