串口搜索和摄像头搜索

config/ddjx01_q6a.json

@@ -0,0 +1,44 @@
+{
+  "name": "prototype",
+  "version": "1.0",
+  "camera": {
+    "resolution_raw": [1920, 1080],
+    "fps": 30,
+    "units": 15,
+    "units_used": 9, 
+    "resolution_stitch": [365, 365],
+    "stitch_res_list": [365,263,123,63]
+  },
+  "stitcher": {
+    "min_area_frac": 0.01,
+    "max_area_frac": 0.05,
+    "max_aspect_ratio": 50,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "margin": 10,
+    "nominal_ov_pos": 100,
+    "n": [3,3],
+    "row_tol": 0.6,
+    "box_size": [250, 250]
+  },
+  "tracker": {
+    "adaptive": true,
+    "lower_threshold": 12.0,
+    "upper_threshold": 18.0,
+    "loop_closure_interval": 1,
+    "algorithm": "dis",
+    "dis_preset": "medium",
+    "dis_mode": 3,
+    "algorithm_list": ["raft", "dis"],
+    "hhd_downsample": 3
+  },
+  "contact": {
+    "min_contour_area": 3000,
+    "flow_threshold":5,
+    "div_threshold":0.05,
+    "expansion_threshold": 0.01,
+    "kernel_size": [5,5],
+    "denoise_sigma": 12
+  }
+}
+
+

config/gripper.json

@@ -1,58 +1,58 @@
 {
-  "video1": "0",
+  "video1": "2",
   "video2": "1",
-  "sensor_config1": "./config/ddjx01.json",
-  "sensor_config2": "./config/ddjx01.json",
+  "sensor_config1": "./config/ddjx01_q6a.json",
+  "sensor_config2": "./config/ddjx01_q6a.json",
   "sensor_fps": 30.0,
   "motion_threshold": 0.0,
   "sensor_cpu": false,
-  "port": "COM5",
+  "port": "COM9",
   "slave_id": 1,
   "baudrate": 115200,
   "serial_timeout": 0.2,
   "open_pos": 0,
   "close_pos": 9000,
-  "speed": 50,
-  "accel": 80,
-  "decel": 80,
+  "speed": 55,
+  "accel": 70,
+  "decel": 70,
   "release_open_speed": 50,
-  "release_open_accel": 120,
-  "release_open_decel": 120,
-  "open_force": 20,
-  "close_force": 20,
-  "grip_start_force": 20,
-  "hold_force": 20,
-  "initial_force": 20,
+  "release_open_accel": 70,
+  "release_open_decel": 70,
+  "open_force": 25,
+  "close_force": 33,
+  "grip_start_force": 25,
+  "hold_force": 33,
+  "initial_force": 25,
   "force_min": 20,
-  "force_max": 80,
+  "force_max": 99,
   "control_hz": 30.0,
   "baseline_seconds": 1.0,
   "filter_alpha": 0.55,
   "shear_filter_alpha": 0.65,
   "trigger_normal_force": 0.1,
   "trigger_shear_force": 0.1,
-  "trigger_clear_stable_seconds": 0.2,
+  "trigger_clear_stable_seconds": 0.15,
   "open_wait_stable_samples": 12,
-  "open_wait_stable_range_n": 0.03,
+  "open_wait_stable_range_n": 0.01,
   "open_wait_stable_trend_n": 0.015,
   "grip_normal_force": 0.2,
   "grip_requires_both": true,
-  "close_timeout_seconds": 5.0,
+  "close_timeout_seconds": 3.5,
   "closing_command_interval": 0.2,
-  "force_ramp_step": 5,
-  "force_ramp_interval": 0.02,
-  "grip_settle_seconds": 0.05,
+  "force_ramp_step": 1,
+  "force_ramp_interval": 0.1,
+  "grip_settle_seconds": 0.15,
   "adaptive_grip_enabled": true,
   "adaptive_shear_start_force": 0.1,
   "adaptive_shear_full_force": 0.6,
-  "adaptive_force_min": 15,
+  "adaptive_force_min": 33,
   "adaptive_force_max": 80,
-  "adaptive_force_step": 1,
-  "adaptive_force_interval": 0.05,
-  "release_arm_delay_seconds": 0.8,
-  "release_normal_change": 0.2,
-  "release_shear_change": 0.2,
-  "rearm_seconds": 0.5,
+  "adaptive_force_step": 5,
+  "adaptive_force_interval": 0.03,
+  "release_arm_delay_seconds": 1.2,
+  "release_normal_change": 0.35,
+  "release_shear_change": 0.35,
+  "rearm_seconds": 0.4,
   "recover_normal_force": 0.02,
   "recover_shear_force": 0.02,
   "recover_stable_seconds": 0.4,