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v 2.1

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cheng
2026-06-09 16:25:40 +08:00
parent c700f95fb0
commit 9ef1c8782a
13 changed files with 173 additions and 17 deletions
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gripper_control_02/settings.py
+6
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@@ -63,6 +63,9 @@ class Demo02Config:
trigger_normal_force: float = 0.04
trigger_shear_force: float = 0.04
trigger_clear_stable_seconds: float = 0.2
open_wait_stable_samples: int = 12
open_wait_stable_range_n: float = 0.03
open_wait_stable_trend_n: float = 0.015
grip_normal_force: float = 0.05
grip_requires_both: bool = True
close_timeout_seconds: float = 5.0
@@ -151,6 +154,9 @@ 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("--open-wait-stable-samples", type=int, default=get("open_wait_stable_samples", cls.open_wait_stable_samples))
add("--open-wait-stable-range-n", type=float, default=get("open_wait_stable_range_n", cls.open_wait_stable_range_n))
add("--open-wait-stable-trend-n", type=float, default=get("open_wait_stable_trend_n", cls.open_wait_stable_trend_n))
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")