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qt折线图修改

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cheng
2026-06-09 10:39:17 +08:00
parent 66a00a8b5b
commit a2c820bce5
14 changed files with 239 additions and 45 deletions
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gripper_control_02/settings.py
+18 -1
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@@ -53,7 +53,7 @@ class Demo02Config:
hold_force: int = 15
initial_force: int = 10
force_min: int = 10
force_max: int = 30
force_max: int = 60
control_hz: float = 30.0
baseline_seconds: float = 1.0
@@ -69,6 +69,14 @@ class Demo02Config:
force_ramp_step: int = 1
force_ramp_interval: float = 0.1
grip_settle_seconds: float = 0.1
adaptive_grip_enabled: bool = True
adaptive_shear_start_force: float = 0.10
adaptive_shear_full_force: float = 0.60
adaptive_force_min: int = 15
adaptive_force_max: int = 45
adaptive_force_step: int = 1
adaptive_force_interval: float = 0.15
release_arm_delay_seconds: float = 0.8
release_normal_change: float = 0.03
release_shear_change: float = 0.03
rearm_seconds: float = 0.5
@@ -150,6 +158,15 @@ class Demo02Config:
add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))
add("--enable-adaptive-grip", dest="adaptive_grip_enabled", action="store_true", default=get("adaptive_grip_enabled", cls.adaptive_grip_enabled))
add("--disable-adaptive-grip", dest="adaptive_grip_enabled", action="store_false")
add("--adaptive-shear-start-force", type=float, default=get("adaptive_shear_start_force", cls.adaptive_shear_start_force))
add("--adaptive-shear-full-force", type=float, default=get("adaptive_shear_full_force", cls.adaptive_shear_full_force))
add("--adaptive-force-min", type=int, default=get("adaptive_force_min", cls.adaptive_force_min))
add("--adaptive-force-max", type=int, default=get("adaptive_force_max", cls.adaptive_force_max))
add("--adaptive-force-step", type=int, default=get("adaptive_force_step", cls.adaptive_force_step))
add("--adaptive-force-interval", type=float, default=get("adaptive_force_interval", cls.adaptive_force_interval))
add("--release-arm-delay-seconds", type=float, default=get("release_arm_delay_seconds", cls.release_arm_delay_seconds))
add("--release-normal-change", type=float, default=get("release_normal_change", cls.release_normal_change))
add("--release-shear-change", type=float, default=get("release_shear_change", cls.release_shear_change))
add("--rearm-seconds", type=float, default=get("rearm_seconds", cls.rearm_seconds))