cheng
150 lines
3.9 KiB
JSON
150 lines
3.9 KiB
JSON
{
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"video1": "0",
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"video2": "1",
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"sensor_config1": "./config/ddjx01_q6a.json",
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"sensor_config2": "./config/ddjx01_q6a.json",
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"sensor_fps": 30.0,
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"motion_threshold": 0.0,
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"sensor_cpu": false,
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"port": "COM5",
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"slave_id": 1,
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"baudrate": 115200,
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"serial_timeout": 0.2,
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"open_pos": 0,
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"close_pos": 9000,
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"speed": 35,
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"accel": 70,
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"decel": 70,
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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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"open_force": 25,
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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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"initial_force": 25,
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"force_min": 20,
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"force_max": 100,
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"control_hz": 30.0,
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"baseline_seconds": 1.0,
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"filter_alpha": 0.42,
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"shear_filter_alpha": 0.52,
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"shear_control_axes": "y",
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"trigger_normal_force": 0.12,
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"trigger_shear_force": 0.12,
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"trigger_clear_stable_seconds": 0.15,
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"open_wait_stable_samples": 8,
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"open_wait_stable_range_n": 0.025,
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"open_wait_stable_trend_n": 0.015,
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"grip_normal_force": 0.2,
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"grip_requires_both": true,
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"close_timeout_seconds": 3.5,
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"closing_command_interval": 0.2,
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"force_ramp_step": 1,
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"force_ramp_interval": 0.1,
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"grip_settle_seconds": 0.2,
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"grip_behavior_mode": "sensitive",
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"adaptive_grip_enabled": true,
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"adaptive_shear_start_force": 0.1,
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"adaptive_shear_full_force": 0.6,
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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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"release_arm_delay_seconds": 0.28,
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"release_min_hold_seconds": 0.65,
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"release_settle_seconds": 0.12,
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"release_min_change": 0.08,
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"release_touch_window_seconds": 0.14,
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"release_side_touch_change": 0.12,
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"release_confirm_window_seconds": 0.14,
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"release_sample_timeout_seconds": 0.2,
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"release_confirm_samples": 4,
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"release_slow_confirm_samples": 8,
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"release_normal_rate": 2.6,
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"release_shear_rate": 2.4,
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"release_slow_rate": 0.22,
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"release_normal_change": 0.42,
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"release_shear_change": 0.35,
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"release_curve_history": 30,
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"release_slope_window_seconds": 0.8,
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"release_slope_settle_rate": 0.22,
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"release_slope_min_points": 10,
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"release_require_slope_settle": true,
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"release_slope_hold_seconds": 0.45,
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"release_settle_normal_only": true,
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"release_shear_oscillation_open": true,
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"release_shear_oscillation_window_seconds": 0.4,
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"release_shear_oscillation_min_flips": 3,
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"release_shear_oscillation_amplitude": 0.15,
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"release_shear_oscillation_confirm_samples": 2,
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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": 0.55,
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"recover_normal_force": 0.02,
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"recover_shear_force": 0.02,
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"recover_stable_seconds": 0.55,
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"open_position_recover_enabled": true,
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"open_position_tolerance": 100,
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"open_position_stable_seconds": 0.1,
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"open_position_check_interval": 0.1,
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"hold_fallback_pos": null,
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"trigger_force_update": false,
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"open_at_end": true,
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"dry_run": false,
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"normal_force_calibration": {
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"enabled": true,
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"method": "piecewise_linear",
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"extrapolate": true,
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"clamp_output_min": 0.0,
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"points": [
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{
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"fnormal": 1000.0,
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"force_n": 0.0
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},
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{
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"fnormal": 10000.0,
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"force_n": 0.377
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},
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{
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"fnormal": 30000.0,
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"force_n": 1.377
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},
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{
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"fnormal": 62000.0,
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"force_n": 2.377
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}
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]
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},
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"shear_force_calibration": {
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"enabled": true,
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"method": "piecewise_linear",
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"input": "components",
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"signed": true,
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"extrapolate": true,
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"clamp_output_min": 0.0,
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"points": [
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{
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"raw": 1000.0,
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"force_n": 0.0
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},
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{
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"raw": 36000.0,
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"force_n": 1.19
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},
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{
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"raw": 68000.0,
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"force_n": 2.06
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}
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]
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},
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"release_guard_fast_paths": false,
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"grip_contact_hold_position": true,
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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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}
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