cheng
95 lines
2.7 KiB
Markdown
95 lines
2.7 KiB
Markdown
# Examples
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This folder contains user-facing example scripts for the Orisys SDK.
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## Files
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- `basic_pipeline.py`: single-sensor basic processing and visualization flow
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- `two_sensor_pipeline.py`: dual-sensor multiprocessing example
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- `two_sensor_force_reader.py`: dual-sensor force-only reader for gripper control
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- `gripper_force_control.py`: closed-loop gripper force control from left/right tactile feedback
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- `gripper_timed_cycle_control.py`: timed open/close gripper loop with two-sided tactile force adjustment
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- `plot_data.py`: real-time plotting example with PyQtGraph
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- `manual_annotator.py`: manual Qt annotation tool for corners, lines, rectangles, and ROI boxes
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## Typical usage
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Run examples from the repository root so relative paths such as `./config/ddjx01.json`
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resolve correctly.
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### Basic pipeline
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```bash
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python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json
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```
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### Two-sensor pipeline
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```bash
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python examples/two_sensor_pipeline.py
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```
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### Two-sensor force reader
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```bash
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python examples/two_sensor_force_reader.py -v1 0 -v2 1
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```
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### Gripper force control
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```bash
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python examples/gripper_force_control.py --port COM3 -v1 0 -v2 1
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```
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Use `--dry-run` to verify tactile feedback and control decisions without
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opening the gripper serial port.
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### Timed gripper open/close control
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```bash
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python examples/gripper_timed_cycle_control.py --port COM3 -v1 0 -v2 1 --open-seconds 3 --close-seconds 5
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```
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By default, control parameters are loaded from
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`./gripper_control/config/gripper_timed_cycle_control.py`; CLI options override config values.
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The open/close cycle is time-driven. During the close phase, object detection
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uses calibrated N thresholds. After detection, the timed open/close loop stops.
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The gripper holds its current position, resets to a low force, and slowly ramps
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force. When tangential force is high enough and stable, it enters hold-check.
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Human handoff release is enabled by default; pass `--disable-human-release` to
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keep holding even after later tangential-force changes.
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### Real-time plotting
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```bash
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python examples/plot_data.py -v 0 -c ./config/ddjx01.json
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```
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### Manual annotation
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```bash
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python examples/manual_annotator.py -s 0
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```
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Use `-s` with a camera index, video path, or image path. Coordinates saved in the
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JSON file are original image pixel coordinates.
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## Requirements
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- Python environment with the SDK dependencies installed
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- a supported camera or test video
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- valid JSON config in `./config/`
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Some examples also require:
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- `pyqtgraph`
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- `PyQt5`
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- multiple cameras for multi-sensor demos
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## Notes
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- Most examples assume a tactile sensor camera is connected.
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- Press `q` in the display window to quit where applicable.
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- If your camera index is not `0`, change `-v` accordingly.
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