完善释放控制：稳定/迅速行为预设、力曲线夹稳门控与会话记录。

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-09-22 12:05:22 +08:00
parent daa0ec8aec
commit 858e020c77
20 changed files with 3753 additions and 281 deletions
@@ -0,0 +1,196 @@
+"""Grip behavior presets: extreme rapid open/close vs stable hold."""
+
+from __future__ import annotations
+
+import copy
+
+
+# rapid = 迅速开合：优先跟手释放 / 再武装
+# stable = 夹持稳定：优先防误开、夹得住
+GRIP_BEHAVIOR_MODES = ("rapid", "stable")
+
+GRIP_BEHAVIOR_LABELS = {
+    "rapid": "迅速开合",
+    "stable": "夹持稳定",
+}
+
+# Keys owned by a behavior profile. Selecting a mode rewrites these fields.
+GRIP_BEHAVIOR_KEYS = (
+    "filter_alpha",
+    "shear_filter_alpha",
+    "open_wait_stable_samples",
+    "open_wait_stable_range_n",
+    "open_wait_stable_trend_n",
+    "grip_settle_seconds",
+    "force_ramp_step",
+    "force_ramp_interval",
+    "adaptive_grip_enabled",
+    "adaptive_force_interval",
+    "release_open_speed",
+    "release_open_accel",
+    "release_open_decel",
+    "release_arm_delay_seconds",
+    "release_min_hold_seconds",
+    "release_settle_seconds",
+    "release_min_change",
+    "release_touch_window_seconds",
+    "release_side_touch_change",
+    "release_confirm_window_seconds",
+    "release_sample_timeout_seconds",
+    "release_confirm_samples",
+    "release_slow_confirm_samples",
+    "release_normal_rate",
+    "release_shear_rate",
+    "release_slow_rate",
+    "release_normal_change",
+    "release_shear_change",
+    "release_curve_history",
+    "release_slope_window_seconds",
+    "release_slope_settle_rate",
+    "release_slope_min_points",
+    "release_require_slope_settle",
+    "release_slope_hold_seconds",
+    "release_settle_normal_only",
+    "release_side_shear_enabled",
+    "release_side_normal_enabled",
+    "release_shear_onset_enabled",
+    "release_normal_onset_enabled",
+    "rearm_seconds",
+    "recover_stable_seconds",
+)
+
+GRIP_BEHAVIOR_PROFILES = {
+    "rapid": {
+        "filter_alpha": 0.72,
+        "shear_filter_alpha": 0.78,
+        "open_wait_stable_samples": 3,
+        "open_wait_stable_range_n": 0.04,
+        "open_wait_stable_trend_n": 0.03,
+        "grip_settle_seconds": 0.05,
+        "force_ramp_step": 3,
+        "force_ramp_interval": 0.04,
+        "adaptive_grip_enabled": False,
+        "adaptive_force_interval": 0.05,
+        "release_open_speed": 85,
+        "release_open_accel": 90,
+        "release_open_decel": 90,
+        # Almost no normal-contact lock; rely on curve/side-touch rejection.
+        "release_arm_delay_seconds": 0.04,
+        "release_min_hold_seconds": 0.0,
+        "release_settle_seconds": 0.03,
+        "release_min_change": 0.03,
+        "release_touch_window_seconds": 0.28,
+        "release_side_touch_change": 0.04,
+        "release_confirm_window_seconds": 0.28,
+        "release_sample_timeout_seconds": 0.25,
+        "release_confirm_samples": 2,
+        "release_slow_confirm_samples": 3,
+        "release_normal_rate": 1.0,
+        "release_shear_rate": 1.0,
+        "release_slow_rate": 0.55,
+        "release_normal_change": 0.14,
+        "release_shear_change": 0.14,
+        "release_curve_history": 6,
+        "release_slope_window_seconds": 0.35,
+        "release_slope_settle_rate": 0.8,
+        "release_slope_min_points": 4,
+        "release_require_slope_settle": False,
+        "release_slope_hold_seconds": 0.0,
+        "release_settle_normal_only": False,
+        "release_side_shear_enabled": True,
+        "release_side_normal_enabled": True,
+        "release_shear_onset_enabled": True,
+        "release_normal_onset_enabled": True,
+        "rearm_seconds": 0.12,
+        "recover_stable_seconds": 0.12,
+    },
+    "stable": {
+        "filter_alpha": 0.42,
+        "shear_filter_alpha": 0.52,
+        "open_wait_stable_samples": 8,
+        "open_wait_stable_range_n": 0.025,
+        "open_wait_stable_trend_n": 0.015,
+        "grip_settle_seconds": 0.2,
+        "force_ramp_step": 1,
+        "force_ramp_interval": 0.1,
+        "adaptive_grip_enabled": True,
+        "adaptive_force_interval": 0.08,
+        "release_open_speed": 55,
+        "release_open_accel": 70,
+        "release_open_decel": 70,
+        "release_arm_delay_seconds": 0.28,
+        "release_min_hold_seconds": 0.65,
+        "release_settle_seconds": 0.12,
+        "release_min_change": 0.08,
+        "release_touch_window_seconds": 0.14,
+        "release_side_touch_change": 0.12,
+        "release_confirm_window_seconds": 0.14,
+        "release_sample_timeout_seconds": 0.2,
+        "release_confirm_samples": 4,
+        "release_slow_confirm_samples": 8,
+        "release_normal_rate": 2.6,
+        "release_shear_rate": 2.4,
+        "release_slow_rate": 0.22,
+        "release_normal_change": 0.42,
+        "release_shear_change": 0.35,
+        # Clean split: settle on normal plateau; open only via shear.
+        "release_curve_history": 30,
+        "release_slope_window_seconds": 0.8,
+        "release_slope_settle_rate": 0.22,
+        "release_slope_min_points": 10,
+        "release_require_slope_settle": True,
+        "release_slope_hold_seconds": 0.45,
+        "release_settle_normal_only": True,
+        "release_side_shear_enabled": True,
+        "release_side_normal_enabled": False,
+        "release_shear_onset_enabled": True,
+        "release_normal_onset_enabled": False,
+        "rearm_seconds": 0.55,
+        "recover_stable_seconds": 0.55,
+    },
+}
+
+
+def normalize_grip_behavior_mode(mode) -> str:
+    text = str(mode or "").strip().lower()
+    aliases = {
+        "fast": "rapid",
+        "quick": "rapid",
+        "snap": "rapid",
+        "迅速": "rapid",
+        "迅速开合": "rapid",
+        "hold": "stable",
+        "firm": "stable",
+        "secure": "stable",
+        "稳定": "stable",
+        "夹持稳定": "stable",
+    }
+    text = aliases.get(text, text)
+    if text not in GRIP_BEHAVIOR_PROFILES:
+        raise ValueError(
+            f"unsupported grip_behavior_mode: {mode!r}; "
+            f"expected one of {list(GRIP_BEHAVIOR_PROFILES)}"
+        )
+    return text
+
+
+def grip_behavior_profile(mode: str) -> dict:
+    mode = normalize_grip_behavior_mode(mode)
+    return copy.deepcopy(GRIP_BEHAVIOR_PROFILES[mode])
+
+
+def apply_grip_behavior_profile(target, mode: str) -> str:
+    """Write profile fields onto a config object or dict. Returns normalized mode."""
+    mode = normalize_grip_behavior_mode(mode)
+    profile = GRIP_BEHAVIOR_PROFILES[mode]
+    if isinstance(target, dict):
+        target["grip_behavior_mode"] = mode
+        for key, value in profile.items():
+            target[key] = copy.deepcopy(value)
+        return mode
+
+    setattr(target, "grip_behavior_mode", mode)
+    for key, value in profile.items():
+        if hasattr(target, key):
+            setattr(target, key, copy.deepcopy(value))
+    return mode
@@ -13,6 +13,10 @@ from .rotation import (
    DEFAULT_ROTATION2,
    normalize_rotation_config,
 )
+from .behavior_profiles import (
+    apply_grip_behavior_profile,
+    normalize_grip_behavior_mode,
+)


 DEFAULT_CONTROL_CONFIG = str(
@@ -78,6 +82,7 @@ class Demo02Config:
    force_ramp_step: int = 1
    force_ramp_interval: float = 0.1
    grip_settle_seconds: float = 0.1
+    grip_behavior_mode: str = "stable"
    adaptive_grip_enabled: bool = True
    adaptive_shear_start_force: float = 0.10
    adaptive_shear_full_force: float = 0.60
@@ -85,9 +90,32 @@ class Demo02Config:
    adaptive_force_max: int = 45
    adaptive_force_step: int = 1
    adaptive_force_interval: float = 0.15
-    release_arm_delay_seconds: float = 0.8
-    release_normal_change: float = 0.03
-    release_shear_change: float = 0.03
+    release_arm_delay_seconds: float = 0.12
+    release_min_hold_seconds: float = 0.28
+    release_settle_seconds: float = 0.06
+    release_min_change: float = 0.04
+    release_touch_window_seconds: float = 0.2
+    release_side_touch_change: float = 0.06
+    release_confirm_window_seconds: float = 0.2
+    release_sample_timeout_seconds: float = 0.2
+    release_confirm_samples: int = 2
+    release_slow_confirm_samples: int = 5
+    release_normal_rate: float = 1.6
+    release_shear_rate: float = 1.6
+    release_slow_rate: float = 0.4
+    release_normal_change: float = 0.28
+    release_shear_change: float = 0.28
+    release_curve_history: int = 6
+    release_slope_window_seconds: float = 0.8
+    release_slope_settle_rate: float = 0.2
+    release_slope_min_points: int = 8
+    release_require_slope_settle: bool = False
+    release_slope_hold_seconds: float = 0.0
+    release_settle_normal_only: bool = True
+    release_side_shear_enabled: bool = True
+    release_side_normal_enabled: bool = True
+    release_shear_onset_enabled: bool = True
+    release_normal_onset_enabled: bool = True
    rearm_seconds: float = 0.5
    recover_normal_force: float = 0.02
    recover_shear_force: float = 0.02
@@ -171,6 +199,14 @@ class Demo02Config:
        add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
        add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
        add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))
+        add(
+            "--grip-behavior-mode",
+            type=str,
+            choices=["rapid", "stable"],
+            default=normalize_grip_behavior_mode(
+                get("grip_behavior_mode", cls.grip_behavior_mode)
+            ),
+        )
        add("--enable-adaptive-grip", dest="adaptive_grip_enabled", action="store_true", default=get("adaptive_grip_enabled", cls.adaptive_grip_enabled))
        add("--disable-adaptive-grip", dest="adaptive_grip_enabled", action="store_false")
        add("--adaptive-shear-start-force", type=float, default=get("adaptive_shear_start_force", cls.adaptive_shear_start_force))
@@ -180,8 +216,43 @@ class Demo02Config:
        add("--adaptive-force-step", type=int, default=get("adaptive_force_step", cls.adaptive_force_step))
        add("--adaptive-force-interval", type=float, default=get("adaptive_force_interval", cls.adaptive_force_interval))
        add("--release-arm-delay-seconds", type=float, default=get("release_arm_delay_seconds", cls.release_arm_delay_seconds))
+        add("--release-min-hold-seconds", type=float, default=get("release_min_hold_seconds", cls.release_min_hold_seconds))
+        add("--release-settle-seconds", type=float, default=get("release_settle_seconds", cls.release_settle_seconds))
+        add("--release-min-change", type=float, default=get("release_min_change", cls.release_min_change))
+        add("--release-touch-window-seconds", type=float, default=get("release_touch_window_seconds", cls.release_touch_window_seconds))
+        add("--release-side-touch-change", type=float, default=get("release_side_touch_change", cls.release_side_touch_change))
+        add("--release-confirm-window-seconds", type=float, default=get("release_confirm_window_seconds", cls.release_confirm_window_seconds))
+        add("--release-sample-timeout-seconds", type=float, default=get("release_sample_timeout_seconds", cls.release_sample_timeout_seconds))
+        add("--release-confirm-samples", type=int, default=get("release_confirm_samples", cls.release_confirm_samples))
+        add("--release-slow-confirm-samples", type=int, default=get("release_slow_confirm_samples", cls.release_slow_confirm_samples))
+        add("--release-normal-rate", type=float, default=get("release_normal_rate", cls.release_normal_rate))
+        add("--release-shear-rate", type=float, default=get("release_shear_rate", cls.release_shear_rate))
+        add("--release-slow-rate", type=float, default=get("release_slow_rate", cls.release_slow_rate))
        add("--release-normal-change", type=float, default=get("release_normal_change", cls.release_normal_change))
        add("--release-shear-change", type=float, default=get("release_shear_change", cls.release_shear_change))
+        add("--release-curve-history", type=int, default=get("release_curve_history", cls.release_curve_history))
+        add("--release-slope-window-seconds", type=float, default=get("release_slope_window_seconds", cls.release_slope_window_seconds))
+        add("--release-slope-settle-rate", type=float, default=get("release_slope_settle_rate", cls.release_slope_settle_rate))
+        add("--release-slope-min-points", type=int, default=get("release_slope_min_points", cls.release_slope_min_points))
+        add("--release-require-slope-settle", dest="release_require_slope_settle", action="store_true",
+            default=get("release_require_slope_settle", cls.release_require_slope_settle))
+        add("--no-release-require-slope-settle", dest="release_require_slope_settle", action="store_false")
+        add("--release-slope-hold-seconds", type=float, default=get("release_slope_hold_seconds", cls.release_slope_hold_seconds))
+        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-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")
+        add("--release-side-normal-enabled", dest="release_side_normal_enabled", action="store_true",
+            default=get("release_side_normal_enabled", cls.release_side_normal_enabled))
+        add("--no-release-side-normal", dest="release_side_normal_enabled", action="store_false")
+        add("--release-shear-onset-enabled", dest="release_shear_onset_enabled", action="store_true",
+            default=get("release_shear_onset_enabled", cls.release_shear_onset_enabled))
+        add("--no-release-shear-onset", dest="release_shear_onset_enabled", action="store_false")
+        add("--release-normal-onset-enabled", dest="release_normal_onset_enabled", action="store_true",
+            default=get("release_normal_onset_enabled", cls.release_normal_onset_enabled))
+        add("--no-release-normal-onset", dest="release_normal_onset_enabled", action="store_false")
        add("--rearm-seconds", type=float, default=get("rearm_seconds", cls.rearm_seconds))
        add("--recover-normal-force", type=float, default=get("recover_normal_force", cls.recover_normal_force))
        add("--recover-shear-force", type=float, default=get("recover_shear_force", cls.recover_shear_force))
@@ -208,4 +279,10 @@ class Demo02Config:
        values["shear_force_calibration"] = copy.deepcopy(
            config_data.get("shear_force_calibration", DEFAULT_SHEAR_FORCE_CALIBRATION)
        )
+        values["grip_behavior_mode"] = normalize_grip_behavior_mode(
+            values.get("grip_behavior_mode", cls.grip_behavior_mode)
+        )
        return cls(**values)
+
+    def apply_grip_behavior_mode(self, mode: str) -> str:
+        return apply_grip_behavior_profile(self, mode)