init

2026-07-03 09:44:59 +08:00
commit 15088f9810
33 changed files with 3466 additions and 0 deletions
@@ -0,0 +1,113 @@
+{
+  "video1": "0",
+  "video2": "1",
+  "sensor_config1": "./config/ddjx01.json",
+  "sensor_config2": "./config/ddjx01.json",
+  "sensor_fps": 30.0,
+  "motion_threshold": 0.0,
+  "sensor_cpu": false,
+  "port": "COM5",
+  "slave_id": 1,
+  "baudrate": 115200,
+  "serial_timeout": 0.2,
+  "open_pos": 0,
+  "close_pos": 9000,
+  "speed": 25,
+  "accel": 80,
+  "decel": 80,
+  "release_open_speed": 50,
+  "release_open_accel": 120,
+  "release_open_decel": 120,
+  "open_force": 15,
+  "close_force": 15,
+  "grip_start_force": 10,
+  "hold_force": 15,
+  "initial_force": 15,
+  "force_min": 10,
+  "force_max": 80,
+  "control_hz": 30.0,
+  "baseline_seconds": 1.0,
+  "filter_alpha": 0.55,
+  "shear_filter_alpha": 0.65,
+  "trigger_normal_force": 0.1,
+  "trigger_shear_force": 0.1,
+  "trigger_clear_stable_seconds": 0.2,
+  "open_wait_stable_samples": 12,
+  "open_wait_stable_range_n": 0.03,
+  "open_wait_stable_trend_n": 0.015,
+  "grip_normal_force": 0.2,
+  "grip_requires_both": true,
+  "close_timeout_seconds": 5.0,
+  "closing_command_interval": 0.2,
+  "force_ramp_step": 1,
+  "force_ramp_interval": 0.1,
+  "grip_settle_seconds": 0.1,
+  "adaptive_grip_enabled": true,
+  "adaptive_shear_start_force": 0.1,
+  "adaptive_shear_full_force": 0.6,
+  "adaptive_force_min": 15,
+  "adaptive_force_max": 45,
+  "adaptive_force_step": 1,
+  "adaptive_force_interval": 0.05,
+  "release_arm_delay_seconds": 0.8,
+  "release_normal_change": 0.2,
+  "release_shear_change": 0.2,
+  "rearm_seconds": 0.5,
+  "recover_normal_force": 0.02,
+  "recover_shear_force": 0.02,
+  "recover_stable_seconds": 0.4,
+  "open_position_recover_enabled": true,
+  "open_position_tolerance": 100,
+  "open_position_stable_seconds": 0.1,
+  "open_position_check_interval": 0.1,
+  "hold_fallback_pos": null,
+  "trigger_force_update": false,
+  "open_at_end": true,
+  "dry_run": false,
+  "normal_force_calibration": {
+    "enabled": true,
+    "method": "piecewise_linear",
+    "extrapolate": true,
+    "clamp_output_min": 0.0,
+    "points": [
+      {
+        "fnormal": 1000.0,
+        "force_n": 0.0
+      },
+      {
+        "fnormal": 10000.0,
+        "force_n": 0.377
+      },
+      {
+        "fnormal": 30000.0,
+        "force_n": 1.377
+      },
+      {
+        "fnormal": 62000.0,
+        "force_n": 2.377
+      }
+    ]
+  },
+  "shear_force_calibration": {
+    "enabled": true,
+    "method": "piecewise_linear",
+    "input": "components",
+    "signed": true,
+    "extrapolate": true,
+    "clamp_output_min": 0.0,
+    "points": [
+      {
+        "raw": 1000.0,
+        "force_n": 0.0
+      },
+      {
+        "raw": 36000.0,
+        "force_n": 1.19
+      },
+      {
+        "raw": 68000.0,
+        "force_n": 2.06
+      }
+    ]
+  }
+}