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灵敏挡与稳定挡代码分离：灵敏挡使用 6393be9 原版 release_watch（release_watch_sensitive.py），较稳定/十分稳定使用 release_watch.py，按挡位分发；速度按挡位设置（灵敏 55%，较稳定/十分稳定 30%）；切换挡位后界面速度/最大力滑块同步。

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
cheng
2026-09-28 16:47:21 +08:00
parent 8be8a80cff
commit d948883e93
7 changed files with 787 additions and 47 deletions
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config/gripper.json
+45 -45
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@@ -12,16 +12,16 @@
"serial_timeout": 0.2,
"open_pos": 0,
"close_pos": 9000,
"speed": 35,
"speed": 30,
"accel": 70,
"decel": 70,
"release_open_speed": 55,
"release_open_accel": 70,
"release_open_decel": 70,
"open_force": 25,
"close_force": 33,
"grip_start_force": 25,
"hold_force": 33,
"close_force": 70,
"grip_start_force": 70,
"hold_force": 70,
"initial_force": 25,
"force_min": 20,
"force_max": 100,
@@ -40,52 +40,52 @@
"grip_requires_both": true,
"close_timeout_seconds": 3.5,
"closing_command_interval": 0.2,
"force_ramp_step": 1,
"force_ramp_interval": 0.1,
"force_ramp_step": 5,
"force_ramp_interval": 0.03,
"grip_settle_seconds": 0.2,
"grip_behavior_mode": "sensitive",
"grip_behavior_mode": "stable",
"adaptive_grip_enabled": true,
"adaptive_shear_start_force": 0.1,
"adaptive_shear_full_force": 0.6,
"adaptive_force_min": 33,
"adaptive_force_max": 80,
"adaptive_force_min": 70,
"adaptive_force_max": 70,
"adaptive_force_step": 5,
"adaptive_force_interval": 0.08,
"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,
"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,
"adaptive_force_interval": 0.03,
"release_arm_delay_seconds": 0.55,
"release_min_hold_seconds": 2.0,
"release_settle_seconds": 0.22,
"release_min_change": 0.12,
"release_touch_window_seconds": 0.22,
"release_side_touch_change": 0.24,
"release_confirm_window_seconds": 0.28,
"release_sample_timeout_seconds": 0.3,
"release_confirm_samples": 8,
"release_slow_confirm_samples": 12,
"release_normal_rate": 4.0,
"release_shear_rate": 3.6,
"release_slow_rate": 0.14,
"release_normal_change": 0.7,
"release_shear_change": 0.6,
"release_curve_history": 42,
"release_slope_window_seconds": 1.2,
"release_slope_settle_rate": 0.12,
"release_slope_min_points": 14,
"release_require_slope_settle": false,
"release_slope_hold_seconds": 0.9,
"release_settle_normal_only": true,
"release_shear_oscillation_open": true,
"release_shear_oscillation_window_seconds": 0.4,
"release_shear_oscillation_min_flips": 3,
"release_shear_oscillation_amplitude": 0.15,
"release_shear_oscillation_confirm_samples": 2,
"release_shear_oscillation_open": false,
"release_shear_oscillation_window_seconds": 0.6,
"release_shear_oscillation_min_flips": 5,
"release_shear_oscillation_amplitude": 0.3,
"release_shear_oscillation_confirm_samples": 4,
"release_side_shear_enabled": true,
"release_side_normal_enabled": true,
"release_side_normal_enabled": false,
"release_shear_onset_enabled": true,
"release_normal_onset_enabled": true,
"rearm_seconds": 0.55,
"release_normal_onset_enabled": false,
"rearm_seconds": 0.9,
"recover_normal_force": 0.02,
"recover_shear_force": 0.02,
"recover_stable_seconds": 0.55,
"recover_stable_seconds": 0.9,
"open_position_recover_enabled": true,
"open_position_tolerance": 100,
"open_position_stable_seconds": 0.1,
@@ -140,10 +140,10 @@
}
]
},
"release_guard_fast_paths": false,
"grip_contact_hold_position": true,
"release_shear_axes": "",
"release_shear_displacement": 0.0,
"release_guard_fast_paths": true,
"grip_contact_hold_position": false,
"release_shear_axes": "y",
"release_shear_displacement": 0.6,
"release_shear_displacement_samples": 6,
"release_object_lost_open": false
"release_object_lost_open": true
}