orisys/test
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

01

Browse Source
This commit is contained in:
cheng
2026-06-08 17:56:09 +08:00
parent 7a15bd8e14
commit cbd8683429
11 changed files with 21 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files
gripper_control_02/settings.py
+8 -18
View File
@@ -52,30 +52,25 @@ class Demo02Config:
force_min: int = 10
force_max: int = 30
control_hz: float = 30.0
control_hz: float = 20.0
baseline_seconds: float = 1.0
filter_alpha: float = 0.55
shear_filter_alpha: float = 0.65
filter_alpha: float = 0.35
shear_filter_alpha: float = 0.45
trigger_normal_force: float = 0.04
trigger_shear_force: float = 0.04
trigger_normal_change: float = 0.02
trigger_shear_change: float = 0.02
grip_normal_force: float = 0.05
grip_requires_both: bool = True
close_timeout_seconds: float = 5.0
force_ramp_step: int = 1
force_ramp_interval: float = 0.2
grip_settle_seconds: float = 0.3
release_normal_change: float = 0.03
release_shear_change: float = 0.03
release_contact_lost_normal_force: float = 0.025
release_contact_lost_shear_force: float = 0.025
release_contact_lost_seconds: float = 0.15
release_normal_change: float = 0.05
release_shear_change: float = 0.05
rearm_seconds: float = 0.5
recover_normal_force: float = 0.035
recover_shear_force: float = 0.035
recover_stable_seconds: float = 0.25
recover_normal_force: float = 0.02
recover_shear_force: float = 0.02
recover_stable_seconds: float = 0.4
hold_fallback_pos: int | None = None
trigger_force_update: bool = False
@@ -136,8 +131,6 @@ 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-normal-change", type=float, default=get("trigger_normal_change", cls.trigger_normal_change))
add("--trigger-shear-change", type=float, default=get("trigger_shear_change", cls.trigger_shear_change))
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")
@@ -147,9 +140,6 @@ class Demo02Config:
add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_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("--release-contact-lost-normal-force", type=float, default=get("release_contact_lost_normal_force", cls.release_contact_lost_normal_force))
add("--release-contact-lost-shear-force", type=float, default=get("release_contact_lost_shear_force", cls.release_contact_lost_shear_force))
add("--release-contact-lost-seconds", type=float, default=get("release_contact_lost_seconds", cls.release_contact_lost_seconds))
add("--rearm-seconds", type=float, default=get("rearm_seconds", cls.rearm_seconds))
add("--recover-normal-force", type=float, default=get("recover_normal_force", cls.recover_normal_force))
add("--recover-shear-force", type=float, default=get("recover_shear_force", cls.recover_shear_force))