test/examples

Examples

This folder contains user-facing example scripts for the Orisys SDK.

Files

• basic_pipeline.py: single-sensor basic processing and visualization flow
• two_sensor_pipeline.py: dual-sensor multiprocessing example
• two_sensor_force_reader.py: dual-sensor force-only reader for gripper control
• gripper_force_control.py: closed-loop gripper force control from left/right tactile feedback
• gripper_timed_cycle_control.py: timed open/close gripper loop with two-sided tactile force adjustment
• plot_data.py: real-time plotting example with PyQtGraph
• manual_annotator.py: manual Qt annotation tool for corners, lines, rectangles, and ROI boxes

Typical usage

Run examples from the repository root so relative paths such as ./config/ddjx01.json resolve correctly.

Basic pipeline

python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json

Two-sensor pipeline

python examples/two_sensor_pipeline.py

Two-sensor force reader

python examples/two_sensor_force_reader.py -v1 0 -v2 1

Gripper force control

python examples/gripper_force_control.py --port COM3 -v1 0 -v2 1

Use --dry-run to verify tactile feedback and control decisions without opening the gripper serial port.

Timed gripper open/close control

python examples/gripper_timed_cycle_control.py --port COM3 -v1 0 -v2 1 --open-seconds 3 --close-seconds 5

By default, control parameters are loaded from ./gripper_control/config/gripper_timed_cycle_control.py; CLI options override config values.

The open/close cycle is time-driven. During the close phase, object detection uses calibrated N thresholds. After detection, the timed open/close loop stops. The gripper holds its current position, resets to a low force, and slowly ramps force. When tangential force is high enough and stable, it enters hold-check. Human handoff release is enabled by default; pass --disable-human-release to keep holding even after later tangential-force changes.

Real-time plotting

python examples/plot_data.py -v 0 -c ./config/ddjx01.json

Manual annotation

python examples/manual_annotator.py -s 0

Use -s with a camera index, video path, or image path. Coordinates saved in the JSON file are original image pixel coordinates.

Requirements

• Python environment with the SDK dependencies installed
• a supported camera or test video
• valid JSON config in ./config/

Some examples also require:

• pyqtgraph
• PyQt5
• multiple cameras for multi-sensor demos

Notes

• Most examples assume a tactile sensor camera is connected.
• Press q in the display window to quit where applicable.
• If your camera index is not 0, change -v accordingly.