cheng
180 lines
9.0 KiB
Python
180 lines
9.0 KiB
Python
import argparse
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import copy
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from dataclasses import dataclass, field
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from gripper_control.calibration import (
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DEFAULT_NORMAL_FORCE_CALIBRATION,
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DEFAULT_SHEAR_FORCE_CALIBRATION,
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)
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from gripper_control.config import load_control_config
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from gripper_control.paths import REPO_ROOT
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DEFAULT_CONTROL_CONFIG = str(
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REPO_ROOT / "gripper_control_02" / "config" / "gripper_demo_02.py"
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)
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def _config_default(config, key, default):
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return config.get(key, config.get(key.replace("_", "-"), default))
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@dataclass
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class Demo02Config:
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control_config: str = DEFAULT_CONTROL_CONFIG
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video1: str = "0"
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video2: str = "1"
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rotation1: str = "./config/rotation_config_0.json"
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rotation2: str = "./config/rotation_config_1.json"
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sensor_config1: str = "./config/ddjx01.json"
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sensor_config2: str = "./config/ddjx01.json"
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sensor_fps: float = 30.0
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motion_threshold: float = 0.0
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sensor_cpu: bool = False
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port: str = "COM5"
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slave_id: int = 1
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baudrate: int = 115200
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serial_timeout: float = 0.2
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open_pos: int = 0
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close_pos: int = 9000
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speed: int = 25
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accel: int = 80
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decel: int = 80
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release_open_speed: int = 50
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release_open_accel: int = 120
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release_open_decel: int = 120
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open_force: int = 10
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close_force: int = 10
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grip_start_force: int = 10
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hold_force: int = 15
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initial_force: int = 10
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force_min: int = 10
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force_max: int = 30
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control_hz: float = 30.0
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baseline_seconds: float = 1.0
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filter_alpha: float = 0.55
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shear_filter_alpha: float = 0.65
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trigger_normal_force: float = 0.04
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trigger_shear_force: float = 0.04
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trigger_clear_stable_seconds: float = 0.2
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grip_normal_force: float = 0.05
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grip_requires_both: bool = True
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close_timeout_seconds: float = 5.0
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force_ramp_step: int = 1
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force_ramp_interval: float = 0.1
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grip_settle_seconds: float = 0.1
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release_normal_change: float = 0.03
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release_shear_change: float = 0.03
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rearm_seconds: float = 0.5
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recover_normal_force: float = 0.02
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recover_shear_force: float = 0.02
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recover_stable_seconds: float = 0.4
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open_position_recover_enabled: bool = True
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open_position_tolerance: int = 100
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open_position_stable_seconds: float = 0.1
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open_position_check_interval: float = 0.1
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hold_fallback_pos: int | None = None
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trigger_force_update: bool = False
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open_at_end: bool = True
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dry_run: bool = False
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normal_force_calibration: dict = field(
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default_factory=lambda: copy.deepcopy(DEFAULT_NORMAL_FORCE_CALIBRATION)
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)
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shear_force_calibration: dict = field(
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default_factory=lambda: copy.deepcopy(DEFAULT_SHEAR_FORCE_CALIBRATION)
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)
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@classmethod
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def from_args(cls, argv=None):
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bootstrap = argparse.ArgumentParser(add_help=False)
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bootstrap.add_argument("--control-config", default=DEFAULT_CONTROL_CONFIG)
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bootstrap_args, _ = bootstrap.parse_known_args(argv)
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config_data = load_control_config(bootstrap_args.control_config)
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parser = argparse.ArgumentParser()
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add = parser.add_argument
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get = lambda key, default: _config_default(config_data, key, default)
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add("--control-config", type=str, default=bootstrap_args.control_config)
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add("--video1", "-v1", type=str, default=get("video1", cls.video1))
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add("--video2", "-v2", type=str, default=get("video2", cls.video2))
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add("--rotation1", "-r1", type=str, default=get("rotation1", cls.rotation1))
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add("--rotation2", "-r2", type=str, default=get("rotation2", cls.rotation2))
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add("--sensor-config1", type=str, default=get("sensor_config1", cls.sensor_config1))
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add("--sensor-config2", type=str, default=get("sensor_config2", cls.sensor_config2))
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add("--sensor-fps", type=float, default=get("sensor_fps", cls.sensor_fps))
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add("--motion-threshold", type=float, default=get("motion_threshold", cls.motion_threshold))
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add("--sensor-cpu", action="store_true", default=get("sensor_cpu", cls.sensor_cpu))
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add("--port", type=str, default=get("port", cls.port))
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add("--slave-id", type=int, default=get("slave_id", cls.slave_id))
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add("--baudrate", type=int, default=get("baudrate", cls.baudrate))
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add("--serial-timeout", type=float, default=get("serial_timeout", cls.serial_timeout))
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add("--open-pos", type=int, default=get("open_pos", cls.open_pos))
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add("--close-pos", type=int, default=get("close_pos", cls.close_pos))
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add("--speed", type=int, default=get("speed", cls.speed))
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add("--accel", type=int, default=get("accel", cls.accel))
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add("--decel", type=int, default=get("decel", cls.decel))
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add("--release-open-speed", type=int, default=get("release_open_speed", cls.release_open_speed))
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add("--release-open-accel", type=int, default=get("release_open_accel", cls.release_open_accel))
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add("--release-open-decel", type=int, default=get("release_open_decel", cls.release_open_decel))
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add("--open-force", type=int, default=get("open_force", cls.open_force))
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add("--close-force", type=int, default=get("close_force", cls.close_force))
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add("--grip-start-force", type=int, default=get("grip_start_force", cls.grip_start_force))
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add("--hold-force", type=int, default=get("hold_force", cls.hold_force))
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add("--force-min", type=int, default=get("force_min", cls.force_min))
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add("--force-max", type=int, default=get("force_max", cls.force_max))
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add("--control-hz", type=float, default=get("control_hz", cls.control_hz))
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add("--baseline-seconds", type=float, default=get("baseline_seconds", cls.baseline_seconds))
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add("--filter-alpha", type=float, default=get("filter_alpha", cls.filter_alpha))
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add("--shear-filter-alpha", type=float, default=get("shear_filter_alpha", cls.shear_filter_alpha))
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add("--trigger-normal-force", type=float, default=get("trigger_normal_force", cls.trigger_normal_force))
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add("--trigger-shear-force", type=float, default=get("trigger_shear_force", cls.trigger_shear_force))
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add("--trigger-clear-stable-seconds", type=float, default=get("trigger_clear_stable_seconds", cls.trigger_clear_stable_seconds))
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add("--grip-normal-force", type=float, default=get("grip_normal_force", cls.grip_normal_force))
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add("--grip-requires-both", dest="grip_requires_both", action="store_true", default=get("grip_requires_both", cls.grip_requires_both))
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add("--allow-single-side-grip", dest="grip_requires_both", action="store_false")
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add("--close-timeout-seconds", type=float, default=get("close_timeout_seconds", cls.close_timeout_seconds))
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add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
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add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
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add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))
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add("--release-normal-change", type=float, default=get("release_normal_change", cls.release_normal_change))
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add("--release-shear-change", type=float, default=get("release_shear_change", cls.release_shear_change))
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add("--rearm-seconds", type=float, default=get("rearm_seconds", cls.rearm_seconds))
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add("--recover-normal-force", type=float, default=get("recover_normal_force", cls.recover_normal_force))
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add("--recover-shear-force", type=float, default=get("recover_shear_force", cls.recover_shear_force))
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add("--recover-stable-seconds", type=float, default=get("recover_stable_seconds", cls.recover_stable_seconds))
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add("--open-position-recover-enabled", action="store_true", default=get("open_position_recover_enabled", cls.open_position_recover_enabled))
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add("--disable-open-position-recover", dest="open_position_recover_enabled", action="store_false")
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add("--open-position-tolerance", type=int, default=get("open_position_tolerance", cls.open_position_tolerance))
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add("--open-position-stable-seconds", type=float, default=get("open_position_stable_seconds", cls.open_position_stable_seconds))
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add("--open-position-check-interval", type=float, default=get("open_position_check_interval", cls.open_position_check_interval))
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add("--hold-fallback-pos", type=int, default=get("hold_fallback_pos", cls.hold_fallback_pos))
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add("--trigger-force-update", action="store_true", default=get("trigger_force_update", cls.trigger_force_update))
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add("--open-at-end", action="store_true", default=get("open_at_end", cls.open_at_end))
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add("--dry-run", action="store_true", default=get("dry_run", cls.dry_run))
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args = parser.parse_args(argv)
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values = vars(args)
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values["initial_force"] = values["open_force"]
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values["normal_force_calibration"] = copy.deepcopy(
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config_data.get("normal_force_calibration", DEFAULT_NORMAL_FORCE_CALIBRATION)
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)
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values["shear_force_calibration"] = copy.deepcopy(
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config_data.get("shear_force_calibration", DEFAULT_SHEAR_FORCE_CALIBRATION)
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)
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return cls(**values)
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