init

gripper/common/__init__.py

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+"""Shared path and utility helpers."""

gripper/common/filters.py

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+class ExponentialFilter:
+    def __init__(self, alpha):
+        self.alpha = max(0.0, min(1.0, float(alpha)))
+        self.value = 0.0
+        self.initialized = False
+
+    def update(self, sample):
+        sample = float(sample)
+        if not self.initialized:
+            self.value = sample
+            self.initialized = True
+        else:
+            self.value = self.alpha * sample + (1.0 - self.alpha) * self.value
+        return self.value
+
+    def reset(self):
+        self.value = 0.0
+        self.initialized = False
+
+
+def clamp(value, min_value, max_value):
+    return max(min_value, min(max_value, value))
+

gripper/common/paths.py

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+from pathlib import Path
+import sys
+
+
+def _runtime_root():
+    if getattr(sys, "frozen", False):
+        exe_dir = Path(sys.executable).resolve().parent
+        if (exe_dir / "config").exists():
+            return exe_dir
+        return Path(getattr(sys, "_MEIPASS", exe_dir)).resolve()
+    return Path(__file__).resolve().parents[2]
+
+
+REPO_ROOT = _runtime_root()
+PACKAGE_DIR = REPO_ROOT / "gripper"
+SDK_DIR = REPO_ROOT / "sdk"
+SRC_DIR = REPO_ROOT / "src"
+
+
+def ensure_project_paths():
+    for path in (SDK_DIR, SRC_DIR, REPO_ROOT):
+        path_text = str(path)
+        if path_text not in sys.path:
+            sys.path.insert(0, path_text)