{
  "video1": "0",
  "video2": "1",
  "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",
  "slave_id": 1,
  "baudrate": 115200,
  "serial_timeout": 0.2,
  "open_pos": 0,
  "close_pos": 9000,
  "speed": 55,
  "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,
  "initial_force": 25,
  "force_min": 20,
  "force_max": 99,
  "control_hz": 30.0,
  "baseline_seconds": 1.0,
  "filter_alpha": 0.42,
  "shear_filter_alpha": 0.52,
  "shear_control_axes": "y",
  "trigger_normal_force": 0.12,
  "trigger_shear_force": 0.12,
  "trigger_clear_stable_seconds": 0.15,
  "open_wait_stable_samples": 8,
  "open_wait_stable_range_n": 0.025,
  "open_wait_stable_trend_n": 0.015,
  "grip_normal_force": 0.2,
  "grip_requires_both": true,
  "close_timeout_seconds": 3.5,
  "closing_command_interval": 0.2,
  "force_ramp_step": 1,
  "force_ramp_interval": 0.1,
  "grip_settle_seconds": 0.2,
  "grip_behavior_mode": "sensitive",
  "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_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,
  "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_side_shear_enabled": true,
  "release_side_normal_enabled": true,
  "release_shear_onset_enabled": true,
  "release_normal_onset_enabled": true,
  "rearm_seconds": 0.55,
  "recover_normal_force": 0.02,
  "recover_shear_force": 0.02,
  "recover_stable_seconds": 0.55,
  "open_position_recover_enabled": true,
  "open_position_tolerance": 100,
  "open_position_stable_seconds": 0.1,
  "open_position_check_interval": 0.1,
  "hold_fallback_pos": null,
  "trigger_force_update": false,
  "open_at_end": true,
  "dry_run": false,
  "normal_force_calibration": {
    "enabled": true,
    "method": "piecewise_linear",
    "extrapolate": true,
    "clamp_output_min": 0.0,
    "points": [
      {
        "fnormal": 1000.0,
        "force_n": 0.0
      },
      {
        "fnormal": 10000.0,
        "force_n": 0.377
      },
      {
        "fnormal": 30000.0,
        "force_n": 1.377
      },
      {
        "fnormal": 62000.0,
        "force_n": 2.377
      }
    ]
  },
  "shear_force_calibration": {
    "enabled": true,
    "method": "piecewise_linear",
    "input": "components",
    "signed": true,
    "extrapolate": true,
    "clamp_output_min": 0.0,
    "points": [
      {
        "raw": 1000.0,
        "force_n": 0.0
      },
      {
        "raw": 36000.0,
        "force_n": 1.19
      },
      {
        "raw": 68000.0,
        "force_n": 2.06
      }
    ]
  }
}