From e0cf8fdb6d04d2cd7a45a0a862d7406e997dd086 Mon Sep 17 00:00:00 2001 From: orisys Date: Sat, 25 Jul 2026 15:01:13 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?= =?UTF-8?q?=E3=80=8Cgripper=5Fcofig=E3=80=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gripper_cofig/ddjx01_q6a.json | 48 +++++++++++++++ gripper_cofig/gripper.json | 113 ++++++++++++++++++++++++++++++++++ gripper_cofig/gui_layout.json | 70 +++++++++++++++++++++ 3 files changed, 231 insertions(+) create mode 100644 gripper_cofig/ddjx01_q6a.json create mode 100644 gripper_cofig/gripper.json create mode 100644 gripper_cofig/gui_layout.json diff --git a/gripper_cofig/ddjx01_q6a.json b/gripper_cofig/ddjx01_q6a.json new file mode 100644 index 0000000..2a30dae --- /dev/null +++ b/gripper_cofig/ddjx01_q6a.json @@ -0,0 +1,48 @@ +{ + "name": "prototype", + "version": "1.0", + "camera": { + "resolution_raw": [1280, 720], + "fps": 30, + "units": 15, + "units_used": 9, + "resolution_stitch": [263, 263], + "stitch_res_list": [365,263,123,63] + }, + "stitcher": { + "min_area_frac": 0.01, + "max_area_frac": 0.04, + "max_aspect_ratio": 25, + "index": [1,2,3,6,7,8,11,12,13], + "margin": 10, + "nominal_ov_pos": 67, + "n": [3,3], + "row_tol": 0.6, + "box_size": [180, 180], + "blend":"numpy", + "blend_list": ["numpy", "numba","none"] + }, + "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, + "backend": "cpu" + }, + "contact": { + "min_contour_area": 3000, + "flow_threshold":1, + "div_threshold":0.02, + "expansion_threshold": 0.01, + "kernel_size": [5,5], + "denoise_sigma": 10 + } + } + + + diff --git a/gripper_cofig/gripper.json b/gripper_cofig/gripper.json new file mode 100644 index 0000000..8359c9c --- /dev/null +++ b/gripper_cofig/gripper.json @@ -0,0 +1,113 @@ +{ + "video1": "/dev/video2", + "video2": "/dev/video4", + "sensor_config1": "./config/ddjx01_q6a.json", + "sensor_config2": "./config/ddjx01_q6a.json", + "sensor_fps": 30.0, + "motion_threshold": 0.0, + "sensor_cpu": true, + "port": "/dev/ttyUSB0", + "slave_id": 1, + "baudrate": 115200, + "serial_timeout": 0.2, + "open_pos": 0, + "close_pos": 9000, + "speed": 50, + "accel": 80, + "decel": 80, + "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, + "force_min": 20, + "force_max": 80, + "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, + "open_wait_stable_samples": 12, + "open_wait_stable_range_n": 0.03, + "open_wait_stable_trend_n": 0.015, + "grip_normal_force": 0.2, + "grip_requires_both": true, + "close_timeout_seconds": 5.0, + "closing_command_interval": 0.2, + "force_ramp_step": 5, + "force_ramp_interval": 0.02, + "grip_settle_seconds": 0.05, + "adaptive_grip_enabled": true, + "adaptive_shear_start_force": 0.1, + "adaptive_shear_full_force": 0.6, + "adaptive_force_min": 15, + "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, + "recover_normal_force": 0.02, + "recover_shear_force": 0.02, + "recover_stable_seconds": 0.4, + "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 + } + ] + } +} diff --git a/gripper_cofig/gui_layout.json b/gripper_cofig/gui_layout.json new file mode 100644 index 0000000..49e9196 --- /dev/null +++ b/gripper_cofig/gui_layout.json @@ -0,0 +1,70 @@ +{ + "version": 1, + "window": { + "geometry": { + "x": 995, + "y": 309, + "width": 693, + "height": 480 + }, + "fullscreen": false, + "maximized": true + }, + "workspace": { + "overlays": { + "left_flow": { + "x": 0.0, + "y": 0.00365, + "width": 0.203664, + "height": 0.509732 + }, + "right_flow": { + "x": 0.197198, + "y": 0.00365, + "width": 0.203664, + "height": 0.509732 + }, + "plot": { + "x": 0.668103, + "y": 0.013382, + "width": 0.331897, + "height": 0.538929 + }, + "gripper": { + "x": 0.0, + "y": 0.673966, + "width": 0.445043, + "height": 0.326034 + }, + "sensor": { + "x": 0.672414, + "y": 0.588808, + "width": 0.327586, + "height": 0.26399 + } + }, + "camera": { + "center": [ + -0.09715325385332108, + 0.34968793392181396, + 0.0 + ], + "distance": 1.2374338909330567, + "elevation": 9.0, + "azimuth": -81.0, + "fov": 60.0 + } + }, + "visual_transforms": { + "left": { + "rotation_angle": 270, + "flip_x": false, + "flip_y": false + }, + "right": { + "rotation_angle": 90, + "flip_x": false, + "flip_y": true + } + } +}