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+# Examples
+
+This folder contains user-facing example scripts for the Orisys SDK.
+
+## Files
+
+- `basic_pipeline.py`: single-sensor basic processing and visualization flow
+- `two_sensor_pipeline.py`: dual-sensor multiprocessing example
+- `two_sensor_force_reader.py`: dual-sensor force-only reader for gripper control
+- `gripper_force_control.py`: closed-loop gripper force control from left/right tactile feedback
+- `gripper_timed_cycle_control.py`: timed open/close gripper loop with two-sided tactile force adjustment
+- `plot_data.py`: real-time plotting example with PyQtGraph
+- `manual_annotator.py`: manual Qt annotation tool for corners, lines, rectangles, and ROI boxes
+
+## Typical usage
+
+Run examples from the repository root so relative paths such as `./config/ddjx01.json`
+resolve correctly.
+
+### Basic pipeline
+
+```bash
+python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json
+```
+
+### Two-sensor pipeline
+
+```bash
+python examples/two_sensor_pipeline.py
+```
+
+### Two-sensor force reader
+
+```bash
+python examples/two_sensor_force_reader.py -v1 0 -v2 1
+```
+
+### Gripper force control
+
+```bash
+python examples/gripper_force_control.py --port COM3 -v1 0 -v2 1
+```
+
+Use `--dry-run` to verify tactile feedback and control decisions without
+opening the gripper serial port.
+
+### Timed gripper open/close control
+
+```bash
+python examples/gripper_timed_cycle_control.py --port COM3 -v1 0 -v2 1 --open-seconds 3 --close-seconds 5
+```
+
+By default, control parameters are loaded from
+`./gripper_control/config/gripper_timed_cycle_control.py`; CLI options override config values.
+
+The open/close cycle is time-driven. During the close phase, object detection
+uses calibrated N thresholds. After detection, the timed open/close loop stops.
+The gripper holds its current position, resets to a low force, and slowly ramps
+force. When tangential force is high enough and stable, it enters hold-check.
+Human handoff release is enabled by default; pass `--disable-human-release` to
+keep holding even after later tangential-force changes.
+
+### Real-time plotting
+
+```bash
+python examples/plot_data.py -v 0 -c ./config/ddjx01.json
+```
+
+### Manual annotation
+
+```bash
+python examples/manual_annotator.py -s 0
+```
+
+Use `-s` with a camera index, video path, or image path. Coordinates saved in the
+JSON file are original image pixel coordinates.
+
+## Requirements
+
+- Python environment with the SDK dependencies installed
+- a supported camera or test video
+- valid JSON config in `./config/`
+
+Some examples also require:
+
+- `pyqtgraph`
+- `PyQt5`
+- multiple cameras for multi-sensor demos
+
+## Notes
+
+- Most examples assume a tactile sensor camera is connected.
+- Press `q` in the display window to quit where applicable.
+- If your camera index is not `0`, change `-v` accordingly.