上传文件至「gripper_cofig」

gripper_cofig/ddjx01_q6a.json

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+{
+    "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
+    }
+  }
+  
+  
+  

gripper_cofig/gripper.json

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+{
+  "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
+      }
+    ]
+  }
+}

gripper_cofig/gui_layout.json

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+{
+  "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
+    }
+  }
+}