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qt第一版可视化

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cheng
2026-06-09 09:31:44 +08:00
parent cbd8683429
commit 66a00a8b5b
39 changed files with 1055 additions and 58 deletions
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gripper_control_02/settings.py
+24 -7
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@@ -43,6 +43,9 @@ class Demo02Config:
speed: int = 25
accel: int = 80
decel: int = 80
release_open_speed: int = 50
release_open_accel: int = 120
release_open_decel: int = 120
open_force: int = 10
close_force: int = 10
@@ -52,25 +55,30 @@ class Demo02Config:
force_min: int = 10
force_max: int = 30
control_hz: float = 20.0
control_hz: float = 30.0
baseline_seconds: float = 1.0
filter_alpha: float = 0.35
shear_filter_alpha: float = 0.45
filter_alpha: float = 0.55
shear_filter_alpha: float = 0.65
trigger_normal_force: float = 0.04
trigger_shear_force: float = 0.04
trigger_clear_stable_seconds: float = 0.2
grip_normal_force: float = 0.05
grip_requires_both: bool = True
close_timeout_seconds: float = 5.0
force_ramp_step: int = 1
force_ramp_interval: float = 0.2
grip_settle_seconds: float = 0.3
release_normal_change: float = 0.05
release_shear_change: float = 0.05
force_ramp_interval: float = 0.1
grip_settle_seconds: float = 0.1
release_normal_change: float = 0.03
release_shear_change: float = 0.03
rearm_seconds: float = 0.5
recover_normal_force: float = 0.02
recover_shear_force: float = 0.02
recover_stable_seconds: float = 0.4
open_position_recover_enabled: bool = True
open_position_tolerance: int = 100
open_position_stable_seconds: float = 0.1
open_position_check_interval: float = 0.1
hold_fallback_pos: int | None = None
trigger_force_update: bool = False
@@ -116,6 +124,9 @@ class Demo02Config:
add("--speed", type=int, default=get("speed", cls.speed))
add("--accel", type=int, default=get("accel", cls.accel))
add("--decel", type=int, default=get("decel", cls.decel))
add("--release-open-speed", type=int, default=get("release_open_speed", cls.release_open_speed))
add("--release-open-accel", type=int, default=get("release_open_accel", cls.release_open_accel))
add("--release-open-decel", type=int, default=get("release_open_decel", cls.release_open_decel))
add("--open-force", type=int, default=get("open_force", cls.open_force))
add("--close-force", type=int, default=get("close_force", cls.close_force))
@@ -131,6 +142,7 @@ class Demo02Config:
add("--trigger-normal-force", type=float, default=get("trigger_normal_force", cls.trigger_normal_force))
add("--trigger-shear-force", type=float, default=get("trigger_shear_force", cls.trigger_shear_force))
add("--trigger-clear-stable-seconds", type=float, default=get("trigger_clear_stable_seconds", cls.trigger_clear_stable_seconds))
add("--grip-normal-force", type=float, default=get("grip_normal_force", cls.grip_normal_force))
add("--grip-requires-both", dest="grip_requires_both", action="store_true", default=get("grip_requires_both", cls.grip_requires_both))
add("--allow-single-side-grip", dest="grip_requires_both", action="store_false")
@@ -144,6 +156,11 @@ class Demo02Config:
add("--recover-normal-force", type=float, default=get("recover_normal_force", cls.recover_normal_force))
add("--recover-shear-force", type=float, default=get("recover_shear_force", cls.recover_shear_force))
add("--recover-stable-seconds", type=float, default=get("recover_stable_seconds", cls.recover_stable_seconds))
add("--open-position-recover-enabled", action="store_true", default=get("open_position_recover_enabled", cls.open_position_recover_enabled))
add("--disable-open-position-recover", dest="open_position_recover_enabled", action="store_false")
add("--open-position-tolerance", type=int, default=get("open_position_tolerance", cls.open_position_tolerance))
add("--open-position-stable-seconds", type=float, default=get("open_position_stable_seconds", cls.open_position_stable_seconds))
add("--open-position-check-interval", type=float, default=get("open_position_check_interval", cls.open_position_check_interval))
add("--hold-fallback-pos", type=int, default=get("hold_fallback_pos", cls.hold_fallback_pos))
add("--trigger-force-update", action="store_true", default=get("trigger_force_update", cls.trigger_force_update))