初步实现realman单臂接口

2025-12-04 11:37:55 +08:00
parent a9961f977f
commit cf4bb351ed
13 changed files with 788 additions and 1 deletions
--- a/realman.yml
+++ b/realman.yml
@@ -0,0 +1,58 @@
+type: realman
+port: 192.168.3.18:8080
+motors:
+  joint_1:
+    id: 1
+    model: realman
+    norm_mode: DEGREES
+  joint_2: 
+    id: 2
+    model: realman
+    norm_mode: DEGREES
+  joint_3: 
+    id: 3
+    model: realman
+    norm_mode: DEGREES
+  joint_4: 
+    id: 4
+    model: realman
+    norm_mode: DEGREES
+  joint_5: 
+    id: 5
+    model: realman
+    norm_mode: DEGREES
+  joint_6: 
+    id: 6
+    model: realman
+    norm_mode: DEGREES
+  gripper: 
+    id: 7
+    model: realman
+    norm_mode: DEGREES
+cameras:
+  left:
+    serial_number_or_name: 153122077516
+    fps: 30
+    width: 640
+    height: 480
+    use_depth: False
+  front:
+    serial_number_or_name: 145422072751
+    fps: 30
+    width: 640
+    height: 480
+    use_depth: False
+  high:
+    serial_number_or_name: 145422072193
+    fps: 30
+    width: 640
+    height: 480
+    use_depth: False
+joint:
+  - -90
+  - 90
+  - 90
+  - 90
+  - 90
+  - -90
+  - 10