xiufu

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()

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