xiufu

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