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cheng
2026-06-29 17:14:42 +08:00
parent 9ef1c8782a
commit c609c3901f
18 changed files with 49 additions and 4 deletions
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gripper_control_02/settings.py
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@@ -69,6 +69,7 @@ class Demo02Config:
grip_normal_force: float = 0.05
grip_requires_both: bool = True
close_timeout_seconds: float = 5.0
closing_command_interval: float = 0.2
force_ramp_step: int = 1
force_ramp_interval: float = 0.1
grip_settle_seconds: float = 0.1
@@ -161,6 +162,7 @@ class Demo02Config:
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")
add("--close-timeout-seconds", type=float, default=get("close_timeout_seconds", cls.close_timeout_seconds))
add("--closing-command-interval", type=float, default=get("closing_command_interval", cls.closing_command_interval))
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))