稳定度配置条与自定义挡位、独立速度调节；状态文字中文简写与平滑；灵敏挡切向振荡判据收紧；新增重置底图按钮。
- 设置框新增 0~100 稳定度配置条（灵敏 0 / 较稳定 50 / 十分稳定 100 为内置挡位，中间按比例插值），支持滚轮/左键拖动，可另存/删除自定义挡位；速度改为独立滑块。 - 状态栏改为中文简写（悬停显示原文）；夹持保护期文字按挡位区分；合并同义子状态并加最短停留，避免逐帧跳动。 - 灵敏挡切向振荡：0.5 s 内换向 4 次，并须持续至少 0.15 s 才张开（新参数 release_shear_oscillation_min_seconds）。 - 传感器控制区新增「重置底图」：左右传感器一起用当前画面更换光流参考底图（orisys Sensor.reset），不断开相机。 Co-authored-by: Cursor <cursoragent@cursor.com>
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cheng
@@ -8,6 +8,7 @@ import copy
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# sensitive = 灵敏：跟手释放，自适应夹持力
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# stable = 较稳定：接触即 70% 恒力夹持，2 s 保护期，Y 拟合偏移 0.6 N 张开
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# firm = 十分稳定：接触即 100% 恒力夹持，2.5 s 保护期，Y 拟合偏移 0.8 N 张开
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# 稳定度 0..100：三挡分别位于 0 / 50 / 100，中间值按比例插值（见 grip_behavior_level_profile）。
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GRIP_BEHAVIOR_MODES = ("sensitive", "stable", "firm")
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GRIP_BEHAVIOR_LABELS = {
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@@ -74,6 +75,7 @@ GRIP_BEHAVIOR_KEYS = (
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"release_shear_oscillation_min_flips",
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"release_shear_oscillation_amplitude",
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"release_shear_oscillation_confirm_samples",
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"release_shear_oscillation_min_seconds",
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"release_side_shear_enabled",
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"release_side_normal_enabled",
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"release_shear_onset_enabled",
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@@ -157,10 +159,11 @@ _SENSITIVE_PROFILE = {
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"release_settle_normal_only": True,
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# Intentional rub/twist: oscillating shear opens even before plateau latch.
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"release_shear_oscillation_open": True,
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"release_shear_oscillation_window_seconds": 0.4,
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"release_shear_oscillation_min_flips": 3,
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"release_shear_oscillation_window_seconds": 0.5,
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"release_shear_oscillation_min_flips": 4,
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"release_shear_oscillation_amplitude": 0.15,
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"release_shear_oscillation_confirm_samples": 2,
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"release_shear_oscillation_min_seconds": 0.15,
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"release_side_shear_enabled": True,
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"release_side_normal_enabled": True,
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"release_shear_onset_enabled": True,
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@@ -288,6 +291,103 @@ def grip_behavior_profile(mode: str = "sensitive") -> dict:
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return _merged_profile(mode)
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# Stability level 0..100: the three built-in modes sit at fixed anchors.
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# Below the stable anchor the sensitive algorithm runs with its numeric params
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# scaled toward the stable values; from the stable anchor on, the held
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# algorithm runs, scaled from stable to firm.
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GRIP_BEHAVIOR_LEVEL_MIN = 0
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GRIP_BEHAVIOR_LEVEL_MAX = 100
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GRIP_BEHAVIOR_LEVELS = {"sensitive": 0, "stable": 50, "firm": 100}
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# Only read by the held (stable/firm) release; stays off on the sensitive side.
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_HELD_ONLY_KEYS = ("release_shear_displacement",)
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def clamp_grip_behavior_level(level) -> int:
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try:
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value = int(round(float(level)))
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except (TypeError, ValueError):
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value = GRIP_BEHAVIOR_LEVEL_MIN
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return max(GRIP_BEHAVIOR_LEVEL_MIN, min(GRIP_BEHAVIOR_LEVEL_MAX, value))
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def grip_behavior_mode_for_level(level) -> str:
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level = clamp_grip_behavior_level(level)
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if level >= GRIP_BEHAVIOR_LEVELS["firm"]:
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return "firm"
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if level >= GRIP_BEHAVIOR_LEVELS["stable"]:
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return "stable"
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return "sensitive"
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def default_grip_behavior_level(mode) -> int:
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return GRIP_BEHAVIOR_LEVELS[normalize_grip_behavior_mode(mode)]
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def builtin_grip_behavior_presets() -> list:
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return [
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{
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"name": GRIP_BEHAVIOR_LABELS[mode],
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"level": GRIP_BEHAVIOR_LEVELS[mode],
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"speed": GRIP_BEHAVIOR_PROFILES[mode]["speed"],
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"builtin": True,
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}
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for mode in GRIP_BEHAVIOR_MODES
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]
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def normalize_grip_behavior_presets(presets) -> list:
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"""User presets as [{name, level[, speed]}], without duplicates of built-in names."""
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reserved = {GRIP_BEHAVIOR_LABELS[mode] for mode in GRIP_BEHAVIOR_MODES}
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result = []
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seen = set()
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for item in presets if isinstance(presets, list) else []:
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if not isinstance(item, dict):
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continue
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name = str(item.get("name") or "").strip()
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if not name or name in reserved or name in seen:
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continue
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seen.add(name)
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preset = {"name": name, "level": clamp_grip_behavior_level(item.get("level"))}
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if item.get("speed") is not None:
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preset["speed"] = clamp_grip_behavior_level(item.get("speed"))
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result.append(preset)
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return result
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def _lerp_value(a, b, t):
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if isinstance(a, bool) or isinstance(b, bool):
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return copy.deepcopy(a)
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if not isinstance(a, (int, float)) or not isinstance(b, (int, float)):
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return copy.deepcopy(a)
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value = a + (b - a) * t
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if isinstance(a, int) and isinstance(b, int):
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return int(round(value))
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return round(float(value), 4)
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def grip_behavior_level_profile(level) -> dict:
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"""Merged params for stability *level*; anchors equal the built-in modes."""
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level = clamp_grip_behavior_level(level)
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for mode, anchor in GRIP_BEHAVIOR_LEVELS.items():
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if level == anchor:
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return _merged_profile(mode)
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stable_at = GRIP_BEHAVIOR_LEVELS["stable"]
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if level < stable_at:
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low, high = _merged_profile("sensitive"), _merged_profile("stable")
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t = (level - GRIP_BEHAVIOR_LEVELS["sensitive"]) / float(stable_at - GRIP_BEHAVIOR_LEVELS["sensitive"])
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else:
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low, high = _merged_profile("stable"), _merged_profile("firm")
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t = (level - stable_at) / float(GRIP_BEHAVIOR_LEVELS["firm"] - stable_at)
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fixed = GRIP_TRIGGER_KEYS + (_HELD_ONLY_KEYS if level < stable_at else ())
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profile = {}
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for key, value in low.items():
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if key in fixed:
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profile[key] = copy.deepcopy(value)
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else:
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profile[key] = _lerp_value(value, high.get(key, value), t)
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return profile
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def apply_grip_behavior_profile(target, mode: str = "sensitive") -> str:
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mode = normalize_grip_behavior_mode(mode)
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profile = _merged_profile(mode)
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@@ -122,6 +122,8 @@ class Demo02Config:
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release_shear_oscillation_min_flips: int = 3
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release_shear_oscillation_amplitude: float = 0.15
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release_shear_oscillation_confirm_samples: int = 2
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# Oscillation must persist this long (in addition to confirm samples) before opening.
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release_shear_oscillation_min_seconds: float = 0.0
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# Block oscillation/side-touch release during contact hold and servo motion.
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release_guard_fast_paths: bool = False
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# Shear axes for release only: "" follows shear_control_axes; "y" | "x" | "xy".
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@@ -281,6 +283,8 @@ class Demo02Config:
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default=get("release_shear_oscillation_amplitude", cls.release_shear_oscillation_amplitude))
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add("--release-shear-oscillation-confirm-samples", type=int,
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default=get("release_shear_oscillation_confirm_samples", cls.release_shear_oscillation_confirm_samples))
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add("--release-shear-oscillation-min-seconds", type=float,
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default=get("release_shear_oscillation_min_seconds", cls.release_shear_oscillation_min_seconds))
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add("--release-guard-fast-paths", dest="release_guard_fast_paths", action="store_true",
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default=get("release_guard_fast_paths", cls.release_guard_fast_paths))
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add("--no-release-guard-fast-paths", dest="release_guard_fast_paths", action="store_false")
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