开合控制调整：切向触发只看 Y 轴，三挡位只控制释放、触发固定灵敏参数；自适应负载改看切向 X；恢复原灵敏档张开逻辑与排查前夹持力参数。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
cheng
+194
-122
@@ -1,31 +1,33 @@
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"""Grip behavior presets: extreme rapid open/close vs stable hold."""
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"""Grip behavior presets: sensitive / stable / firm (open/release only)."""
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from __future__ import annotations
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import copy
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# rapid = 迅速开合：优先跟手释放 / 再武装
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# stable = 夹持稳定：优先防误开、夹得住
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GRIP_BEHAVIOR_MODES = ("rapid", "stable")
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# sensitive = 灵敏：跟手释放，当前默认调参
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# stable = 较稳定：原十分稳定档，明显更难误开
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# firm = 十分稳定：约高一个数量级门槛，故意开合才响应
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GRIP_BEHAVIOR_MODES = ("sensitive", "stable", "firm")
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GRIP_BEHAVIOR_LABELS = {
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"rapid": "迅速开合",
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"stable": "夹持稳定",
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"sensitive": "灵敏",
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"stable": "较稳定",
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"firm": "十分稳定",
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}
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# Keys owned by a behavior profile. Selecting a mode rewrites these fields.
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GRIP_BEHAVIOR_KEYS = (
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"filter_alpha",
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"shear_filter_alpha",
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# Close/re-arm trigger always uses the sensitive values, regardless of mode.
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GRIP_TRIGGER_KEYS = (
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"trigger_normal_force",
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"trigger_shear_force",
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"open_wait_stable_samples",
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"open_wait_stable_range_n",
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"open_wait_stable_trend_n",
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"grip_settle_seconds",
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"force_ramp_step",
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"force_ramp_interval",
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"adaptive_grip_enabled",
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"adaptive_force_interval",
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)
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# Keys rewritten by the behavior mode. Trigger params are not included —
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# they stay locked to the sensitive profile via GRIP_TRIGGER_KEYS.
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GRIP_BEHAVIOR_KEYS = (
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"release_open_speed",
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"release_open_accel",
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"release_open_decel",
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@@ -51,6 +53,11 @@ GRIP_BEHAVIOR_KEYS = (
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"release_require_slope_settle",
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"release_slope_hold_seconds",
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"release_settle_normal_only",
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"release_shear_oscillation_open",
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"release_shear_oscillation_window_seconds",
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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_side_shear_enabled",
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"release_side_normal_enabled",
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"release_shear_onset_enabled",
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@@ -59,136 +66,201 @@ GRIP_BEHAVIOR_KEYS = (
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"recover_stable_seconds",
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)
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_SENSITIVE_TRIGGER = {
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# Close trigger must stay above force-display noise (~0.05N).
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"trigger_normal_force": 0.12,
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"trigger_shear_force": 0.12,
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"open_wait_stable_samples": 8,
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"open_wait_stable_range_n": 0.025,
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"open_wait_stable_trend_n": 0.015,
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}
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_SENSITIVE_PROFILE = {
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**_SENSITIVE_TRIGGER,
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"release_open_speed": 55,
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"release_open_accel": 70,
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"release_open_decel": 70,
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"release_arm_delay_seconds": 0.28,
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"release_min_hold_seconds": 0.65,
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"release_settle_seconds": 0.12,
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"release_min_change": 0.08,
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"release_touch_window_seconds": 0.14,
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"release_side_touch_change": 0.12,
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"release_confirm_window_seconds": 0.14,
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"release_sample_timeout_seconds": 0.2,
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"release_confirm_samples": 4,
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"release_slow_confirm_samples": 8,
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"release_normal_rate": 2.6,
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"release_shear_rate": 2.4,
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"release_slow_rate": 0.22,
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"release_normal_change": 0.42,
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"release_shear_change": 0.35,
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"release_curve_history": 30,
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"release_slope_window_seconds": 0.8,
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"release_slope_settle_rate": 0.22,
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"release_slope_min_points": 10,
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"release_require_slope_settle": True,
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"release_slope_hold_seconds": 0.45,
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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_amplitude": 0.15,
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"release_shear_oscillation_confirm_samples": 2,
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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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"release_normal_onset_enabled": True,
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"rearm_seconds": 0.55,
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"recover_stable_seconds": 0.55,
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}
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_STABLE_PROFILE = {
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"release_open_speed": 45,
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"release_open_accel": 60,
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"release_open_decel": 60,
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"release_arm_delay_seconds": 0.55,
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"release_min_hold_seconds": 1.2,
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"release_settle_seconds": 0.22,
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"release_min_change": 0.16,
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"release_touch_window_seconds": 0.22,
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"release_side_touch_change": 0.24,
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"release_confirm_window_seconds": 0.28,
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"release_sample_timeout_seconds": 0.3,
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"release_confirm_samples": 8,
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"release_slow_confirm_samples": 12,
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"release_normal_rate": 4.0,
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"release_shear_rate": 3.6,
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"release_slow_rate": 0.14,
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"release_normal_change": 0.7,
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"release_shear_change": 0.6,
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"release_curve_history": 42,
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"release_slope_window_seconds": 1.2,
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"release_slope_settle_rate": 0.12,
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"release_slope_min_points": 14,
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"release_require_slope_settle": True,
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"release_slope_hold_seconds": 0.9,
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"release_settle_normal_only": True,
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"release_shear_oscillation_open": True,
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"release_shear_oscillation_window_seconds": 0.6,
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"release_shear_oscillation_min_flips": 5,
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"release_shear_oscillation_amplitude": 0.3,
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"release_shear_oscillation_confirm_samples": 4,
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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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"release_normal_onset_enabled": True,
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"rearm_seconds": 0.9,
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"recover_stable_seconds": 0.9,
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}
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# Roughly ~10x harder to trip open than sensitive; intentional open needs clear force.
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_FIRM_PROFILE = {
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"release_open_speed": 35,
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"release_open_accel": 50,
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"release_open_decel": 50,
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"release_arm_delay_seconds": 1.2,
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"release_min_hold_seconds": 3.0,
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"release_settle_seconds": 0.5,
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"release_min_change": 0.8,
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"release_touch_window_seconds": 0.35,
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"release_side_touch_change": 1.2,
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"release_confirm_window_seconds": 0.5,
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"release_sample_timeout_seconds": 0.4,
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"release_confirm_samples": 12,
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"release_slow_confirm_samples": 18,
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"release_normal_rate": 20.0,
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"release_shear_rate": 18.0,
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"release_slow_rate": 0.08,
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"release_normal_change": 4.0,
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"release_shear_change": 3.5,
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"release_curve_history": 60,
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"release_slope_window_seconds": 2.0,
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"release_slope_settle_rate": 0.06,
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"release_slope_min_points": 20,
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"release_require_slope_settle": True,
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"release_slope_hold_seconds": 2.0,
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"release_settle_normal_only": True,
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# Keep path available, but require large rub/twist evidence.
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"release_shear_oscillation_open": True,
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"release_shear_oscillation_window_seconds": 0.8,
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"release_shear_oscillation_min_flips": 6,
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"release_shear_oscillation_amplitude": 1.5,
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"release_shear_oscillation_confirm_samples": 6,
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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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"release_normal_onset_enabled": True,
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"rearm_seconds": 1.5,
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"recover_stable_seconds": 1.5,
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}
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GRIP_BEHAVIOR_PROFILES = {
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"rapid": {
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"filter_alpha": 0.72,
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"shear_filter_alpha": 0.78,
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"open_wait_stable_samples": 3,
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"open_wait_stable_range_n": 0.04,
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"open_wait_stable_trend_n": 0.03,
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"grip_settle_seconds": 0.05,
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"force_ramp_step": 3,
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"force_ramp_interval": 0.04,
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"adaptive_grip_enabled": False,
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"adaptive_force_interval": 0.05,
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"release_open_speed": 85,
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"release_open_accel": 90,
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"release_open_decel": 90,
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# Almost no normal-contact lock; rely on curve/side-touch rejection.
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"release_arm_delay_seconds": 0.04,
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"release_min_hold_seconds": 0.0,
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"release_settle_seconds": 0.03,
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"release_min_change": 0.03,
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"release_touch_window_seconds": 0.28,
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"release_side_touch_change": 0.04,
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"release_confirm_window_seconds": 0.28,
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"release_sample_timeout_seconds": 0.25,
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"release_confirm_samples": 2,
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"release_slow_confirm_samples": 3,
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"release_normal_rate": 1.0,
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"release_shear_rate": 1.0,
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"release_slow_rate": 0.55,
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"release_normal_change": 0.14,
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"release_shear_change": 0.14,
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"release_curve_history": 6,
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"release_slope_window_seconds": 0.35,
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"release_slope_settle_rate": 0.8,
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"release_slope_min_points": 4,
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"release_require_slope_settle": False,
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"release_slope_hold_seconds": 0.0,
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"release_settle_normal_only": False,
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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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"release_normal_onset_enabled": True,
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"rearm_seconds": 0.12,
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"recover_stable_seconds": 0.12,
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},
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"stable": {
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"filter_alpha": 0.42,
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"shear_filter_alpha": 0.52,
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"open_wait_stable_samples": 8,
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"open_wait_stable_range_n": 0.025,
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"open_wait_stable_trend_n": 0.015,
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"grip_settle_seconds": 0.2,
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"force_ramp_step": 1,
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"force_ramp_interval": 0.1,
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"adaptive_grip_enabled": True,
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"adaptive_force_interval": 0.08,
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"release_open_speed": 55,
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"release_open_accel": 70,
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"release_open_decel": 70,
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"release_arm_delay_seconds": 0.28,
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"release_min_hold_seconds": 0.65,
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"release_settle_seconds": 0.12,
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"release_min_change": 0.08,
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"release_touch_window_seconds": 0.14,
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"release_side_touch_change": 0.12,
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"release_confirm_window_seconds": 0.14,
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"release_sample_timeout_seconds": 0.2,
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"release_confirm_samples": 4,
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"release_slow_confirm_samples": 8,
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"release_normal_rate": 2.6,
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"release_shear_rate": 2.4,
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"release_slow_rate": 0.22,
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"release_normal_change": 0.42,
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"release_shear_change": 0.35,
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# Clean split: settle on normal plateau; open only via shear.
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"release_curve_history": 30,
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"release_slope_window_seconds": 0.8,
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"release_slope_settle_rate": 0.22,
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"release_slope_min_points": 10,
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"release_require_slope_settle": True,
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"release_slope_hold_seconds": 0.45,
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"release_settle_normal_only": True,
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"release_side_shear_enabled": True,
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"release_side_normal_enabled": False,
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"release_shear_onset_enabled": True,
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"release_normal_onset_enabled": False,
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"rearm_seconds": 0.55,
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"recover_stable_seconds": 0.55,
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},
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"sensitive": _SENSITIVE_PROFILE,
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"stable": _STABLE_PROFILE,
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"firm": _FIRM_PROFILE,
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}
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def normalize_grip_behavior_mode(mode) -> str:
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"""Resolve aliases to sensitive / stable / firm; default sensitive."""
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text = str(mode or "").strip().lower()
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aliases = {
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"fast": "rapid",
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"quick": "rapid",
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"snap": "rapid",
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"迅速": "rapid",
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"迅速开合": "rapid",
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"hold": "stable",
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"firm": "stable",
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"secure": "stable",
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"fast": "sensitive",
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"quick": "sensitive",
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"snap": "sensitive",
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"rapid": "sensitive",
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"responsive": "sensitive",
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"灵敏": "sensitive",
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"灵敏开合": "sensitive",
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"迅速": "sensitive",
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"迅速开合": "sensitive",
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"sensitive": "sensitive",
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"稳定": "stable",
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"较稳定": "stable",
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"夹持稳定": "stable",
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"stable": "stable",
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"hold": "firm",
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"firm": "firm",
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"secure": "firm",
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"very_stable": "firm",
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"verystable": "firm",
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"十分稳定": "firm",
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"极度稳定": "firm",
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}
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text = aliases.get(text, text)
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if text in aliases:
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return aliases[text]
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if text not in GRIP_BEHAVIOR_PROFILES:
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raise ValueError(
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f"unsupported grip_behavior_mode: {mode!r}; "
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f"expected one of {list(GRIP_BEHAVIOR_PROFILES)}"
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)
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return "sensitive"
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return text
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def grip_behavior_profile(mode: str) -> dict:
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def _merged_profile(mode: str) -> dict:
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"""Release/open params from *mode*, trigger params always from sensitive."""
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mode = normalize_grip_behavior_mode(mode)
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return copy.deepcopy(GRIP_BEHAVIOR_PROFILES[mode])
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profile = {
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key: copy.deepcopy(GRIP_BEHAVIOR_PROFILES[mode][key])
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for key in GRIP_BEHAVIOR_KEYS
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if key in GRIP_BEHAVIOR_PROFILES[mode]
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}
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for key in GRIP_TRIGGER_KEYS:
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profile[key] = copy.deepcopy(_SENSITIVE_TRIGGER[key])
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return profile
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def apply_grip_behavior_profile(target, mode: str) -> str:
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"""Write profile fields onto a config object or dict. Returns normalized mode."""
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def grip_behavior_profile(mode: str = "sensitive") -> dict:
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return _merged_profile(mode)
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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 = GRIP_BEHAVIOR_PROFILES[mode]
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profile = _merged_profile(mode)
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if isinstance(target, dict):
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target["grip_behavior_mode"] = mode
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for key, value in profile.items():
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target[key] = copy.deepcopy(value)
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return mode
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setattr(target, "grip_behavior_mode", mode)
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for key, value in profile.items():
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if hasattr(target, key):
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@@ -68,6 +68,8 @@ class Demo02Config:
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baseline_seconds: float = 1.0
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filter_alpha: float = 0.55
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shear_filter_alpha: float = 0.65
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# Shear magnitude used for trigger/adaptive/release: "xy" | "x" | "y".
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shear_control_axes: str = "y"
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trigger_normal_force: float = 0.04
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trigger_shear_force: float = 0.04
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@@ -82,7 +84,7 @@ class Demo02Config:
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force_ramp_step: int = 1
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force_ramp_interval: float = 0.1
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grip_settle_seconds: float = 0.1
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grip_behavior_mode: str = "stable"
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grip_behavior_mode: str = "sensitive"
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adaptive_grip_enabled: bool = True
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adaptive_shear_start_force: float = 0.10
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adaptive_shear_full_force: float = 0.60
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@@ -112,6 +114,11 @@ class Demo02Config:
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release_require_slope_settle: bool = False
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release_slope_hold_seconds: float = 0.0
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release_settle_normal_only: bool = True
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release_shear_oscillation_open: bool = False
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release_shear_oscillation_window_seconds: float = 0.4
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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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release_side_shear_enabled: bool = True
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release_side_normal_enabled: bool = True
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release_shear_onset_enabled: bool = True
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@@ -184,6 +191,12 @@ class Demo02Config:
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add("--baseline-seconds", type=float, default=get("baseline_seconds", cls.baseline_seconds))
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add("--filter-alpha", type=float, default=get("filter_alpha", cls.filter_alpha))
|
||||
add("--shear-filter-alpha", type=float, default=get("shear_filter_alpha", cls.shear_filter_alpha))
|
||||
add(
|
||||
"--shear-control-axes",
|
||||
type=str,
|
||||
choices=["xy", "x", "y"],
|
||||
default=str(get("shear_control_axes", cls.shear_control_axes)).strip().lower() or "y",
|
||||
)
|
||||
|
||||
add("--trigger-normal-force", type=float, default=get("trigger_normal_force", cls.trigger_normal_force))
|
||||
add("--trigger-shear-force", type=float, default=get("trigger_shear_force", cls.trigger_shear_force))
|
||||
@@ -202,7 +215,7 @@ class Demo02Config:
|
||||
add(
|
||||
"--grip-behavior-mode",
|
||||
type=str,
|
||||
choices=["rapid", "stable"],
|
||||
choices=["sensitive", "stable", "firm"],
|
||||
default=normalize_grip_behavior_mode(
|
||||
get("grip_behavior_mode", cls.grip_behavior_mode)
|
||||
),
|
||||
@@ -241,6 +254,17 @@ class Demo02Config:
|
||||
add("--release-settle-normal-only", dest="release_settle_normal_only", action="store_true",
|
||||
default=get("release_settle_normal_only", cls.release_settle_normal_only))
|
||||
add("--release-settle-all-channels", dest="release_settle_normal_only", action="store_false")
|
||||
add("--release-shear-oscillation-open", dest="release_shear_oscillation_open", action="store_true",
|
||||
default=get("release_shear_oscillation_open", cls.release_shear_oscillation_open))
|
||||
add("--no-release-shear-oscillation-open", dest="release_shear_oscillation_open", action="store_false")
|
||||
add("--release-shear-oscillation-window-seconds", type=float,
|
||||
default=get("release_shear_oscillation_window_seconds", cls.release_shear_oscillation_window_seconds))
|
||||
add("--release-shear-oscillation-min-flips", type=int,
|
||||
default=get("release_shear_oscillation_min_flips", cls.release_shear_oscillation_min_flips))
|
||||
add("--release-shear-oscillation-amplitude", type=float,
|
||||
default=get("release_shear_oscillation_amplitude", cls.release_shear_oscillation_amplitude))
|
||||
add("--release-shear-oscillation-confirm-samples", type=int,
|
||||
default=get("release_shear_oscillation_confirm_samples", cls.release_shear_oscillation_confirm_samples))
|
||||
add("--release-side-shear-enabled", dest="release_side_shear_enabled", action="store_true",
|
||||
default=get("release_side_shear_enabled", cls.release_side_shear_enabled))
|
||||
add("--no-release-side-shear", dest="release_side_shear_enabled", action="store_false")
|
||||
|
||||
Reference in New Issue
Block a user