01

2026-06-08 17:56:09 +08:00
parent 7a15bd8e14
commit cbd8683429
11 changed files with 21 additions and 75 deletions
@@ -221,15 +221,7 @@ class SideTriggerGripController:
            if sleep_time > 0:
                time.sleep(sleep_time)

-    def _side_triggered(self, feedback, reference=None):
-        if reference is not None:
-            normal_change, shear_change = self._release_changes(feedback, reference)
-            if (
-                normal_change >= self.config.trigger_normal_change
-                or shear_change >= self.config.trigger_shear_change
-            ):
-                return True
-
+    def _side_triggered(self, feedback):
        return (
            feedback.max_normal >= self.config.trigger_normal_force
            or feedback.max_shear >= self.config.trigger_shear_force
@@ -252,9 +244,6 @@ class SideTriggerGripController:
        return {
            "left_normal": feedback.left_normal,
            "right_normal": feedback.right_normal,
-            "max_normal": feedback.max_normal,
-            "left_shear": feedback.left_shear,
-            "right_shear": feedback.right_shear,
            "max_shear": feedback.max_shear,
        }

@@ -264,21 +253,10 @@ class SideTriggerGripController:
        normal_change = max(
            abs(feedback.left_normal - reference["left_normal"]),
            abs(feedback.right_normal - reference["right_normal"]),
-            abs(feedback.max_normal - reference["max_normal"]),
-        )
-        shear_change = max(
-            abs(feedback.left_shear - reference["left_shear"]),
-            abs(feedback.right_shear - reference["right_shear"]),
-            abs(feedback.max_shear - reference["max_shear"]),
        )
+        shear_change = abs(feedback.max_shear - reference["max_shear"])
        return normal_change, shear_change

-    def _release_contact_lost(self, feedback):
-        return (
-            feedback.max_normal <= self.config.release_contact_lost_normal_force
-            and feedback.max_shear <= self.config.release_contact_lost_shear_force
-        )
-
    def _log_tick(
        self,
        feedback,