较稳定/十分稳定挡改为恒力夹持：接触后不锁位置持续以闭合力顶住；张开改为 Y 切向带符号拟合偏移（保护期后记基准，连续 6 帧超阈值），夹爪合到底判定物体脱出即张开。较稳定 70%/2s/0.6N，十分稳定 100%/2.5s/0.8N。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
cheng
@@ -1,13 +1,13 @@
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"""Grip behavior presets: sensitive / stable / firm (open/release only)."""
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"""Grip behavior presets: sensitive / stable / firm (grip force + release)."""
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from __future__ import annotations
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import copy
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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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# 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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GRIP_BEHAVIOR_MODES = ("sensitive", "stable", "firm")
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GRIP_BEHAVIOR_LABELS = {
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@@ -28,6 +28,21 @@ GRIP_TRIGGER_KEYS = (
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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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"grip_contact_hold_position",
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"close_force",
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"grip_start_force",
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"hold_force",
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"force_ramp_step",
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"force_ramp_interval",
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"adaptive_force_min",
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"adaptive_force_max",
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"adaptive_force_step",
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"adaptive_force_interval",
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"release_guard_fast_paths",
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"release_shear_axes",
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"release_shear_displacement",
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"release_shear_displacement_samples",
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"release_object_lost_open",
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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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@@ -75,8 +90,44 @@ _SENSITIVE_TRIGGER = {
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"open_wait_stable_trend_n": 0.015,
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}
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# Adaptive clamp: start light, climb with payload shear.
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_ADAPTIVE_FORCE = {
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"grip_contact_hold_position": True,
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"close_force": 33,
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"grip_start_force": 25,
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"hold_force": 33,
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"force_ramp_step": 1,
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"force_ramp_interval": 0.1,
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"adaptive_force_min": 33,
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"adaptive_force_max": 80,
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"adaptive_force_step": 5,
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"adaptive_force_interval": 0.08,
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}
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def _constant_force(pct):
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"""Close at *pct* and keep that close command squeezing after contact
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(no position hold, no later ramp). Close speed stays the global speed."""
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return {
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"grip_contact_hold_position": False,
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"close_force": pct,
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"grip_start_force": pct,
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"hold_force": pct,
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"force_ramp_step": 5,
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"force_ramp_interval": 0.03,
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"adaptive_force_min": pct,
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"adaptive_force_max": pct,
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"adaptive_force_step": 5,
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"adaptive_force_interval": 0.03,
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}
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_SENSITIVE_PROFILE = {
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**_SENSITIVE_TRIGGER,
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**_ADAPTIVE_FORCE,
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"release_guard_fast_paths": False,
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"release_shear_axes": "",
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"release_shear_displacement": 0.0,
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"release_shear_displacement_samples": 6,
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"release_object_lost_open": False,
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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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@@ -117,13 +168,24 @@ _SENSITIVE_PROFILE = {
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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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**_constant_force(70),
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"release_guard_fast_paths": True,
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# Release looks at Y shear only, regardless of the global control axes.
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"release_shear_axes": "y",
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# Full clamp swings Y by several N and flips sign, so onset confirmation
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# keeps cancelling; open on sustained fitted Y displacement instead.
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"release_shear_displacement": 0.6,
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"release_shear_displacement_samples": 6,
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# The close command keeps pushing: reaching close_pos means the object is gone.
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"release_object_lost_open": True,
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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": 0.55,
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"release_min_hold_seconds": 1.2,
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# Protection: no release of any kind within 2s of contact.
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"release_min_hold_seconds": 2.0,
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"release_settle_seconds": 0.22,
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"release_min_change": 0.16,
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"release_min_change": 0.12,
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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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@@ -139,61 +201,31 @@ _STABLE_PROFILE = {
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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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# Full constant clamp: the protection window is the only arming gate.
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"release_require_slope_settle": False,
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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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# Open by fitted Y shear displacement only, no oscillation path.
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"release_shear_oscillation_open": False,
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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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# Normal only judges the clamp plateau; opening is by Y shear only.
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"release_side_shear_enabled": True,
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"release_side_normal_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": True,
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"release_normal_onset_enabled": False,
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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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# Same release scheme as stable, with a harder clamp and larger margins.
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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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**_STABLE_PROFILE,
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**_constant_force(100),
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"release_min_hold_seconds": 2.5,
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"release_shear_displacement": 0.8,
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}
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GRIP_BEHAVIOR_PROFILES = {
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@@ -84,6 +84,9 @@ 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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# On contact: True = hold at the contact position; False = keep the close
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# command squeezing toward close_pos at full commanded force.
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grip_contact_hold_position: bool = True
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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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@@ -119,6 +122,16 @@ 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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# 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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release_shear_axes: str = ""
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# >0: open when curve-fitted signed Y shear leaves its post-protection
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# baseline by this much (N) for N consecutive samples; replaces onset paths.
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release_shear_displacement: float = 0.0
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release_shear_displacement_samples: int = 6
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# Open when the gripper travels to close_pos while holding (object gone).
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release_object_lost_open: bool = False
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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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@@ -212,6 +225,9 @@ class Demo02Config:
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add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
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add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
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add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))
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add("--grip-contact-hold-position", dest="grip_contact_hold_position", action="store_true",
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default=get("grip_contact_hold_position", cls.grip_contact_hold_position))
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add("--no-grip-contact-hold-position", dest="grip_contact_hold_position", action="store_false")
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add(
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"--grip-behavior-mode",
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type=str,
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@@ -265,6 +281,18 @@ 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-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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add("--release-shear-axes", type=str, choices=["", "xy", "x", "y"],
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default=str(get("release_shear_axes", cls.release_shear_axes) or "").strip().lower())
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add("--release-shear-displacement", type=float,
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default=get("release_shear_displacement", cls.release_shear_displacement))
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add("--release-shear-displacement-samples", type=int,
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default=get("release_shear_displacement_samples", cls.release_shear_displacement_samples))
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add("--release-object-lost-open", dest="release_object_lost_open", action="store_true",
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default=get("release_object_lost_open", cls.release_object_lost_open))
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add("--no-release-object-lost-open", dest="release_object_lost_open", action="store_false")
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add("--release-side-shear-enabled", dest="release_side_shear_enabled", action="store_true",
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default=get("release_side_shear_enabled", cls.release_side_shear_enabled))
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add("--no-release-side-shear", dest="release_side_shear_enabled", action="store_false")
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