diff --git a/src/litegrip/calibration_normal.json b/src/litegrip/calibration_normal.json index 0b37d9d..f57aad2 100644 --- a/src/litegrip/calibration_normal.json +++ b/src/litegrip/calibration_normal.json @@ -1,9 +1,9 @@ { "calibrated": true, - "zero_position_rad": 0.052071, - "max_position_rad": -1.357481, - "travel_range_rad": 1.409552, - "rad_to_mm": 61.01229326764816, + "zero_position_rad": 0.029564, + "max_position_rad": -1.141184, + "travel_range_rad": 1.170748, + "rad_to_mm": 73.45731105242119, "work_stroke_mm": 80.0, "motor_type": "DM4310" } diff --git a/src/litegrip/calibration_reverse.json b/src/litegrip/calibration_reverse.json index 94e48da..44584ca 100644 --- a/src/litegrip/calibration_reverse.json +++ b/src/litegrip/calibration_reverse.json @@ -1,9 +1,9 @@ { "calibrated": true, - "zero_position_rad": -1.357481, - "max_position_rad": 0.052071, - "travel_range_rad": 1.409552, - "rad_to_mm": 61.01229326764816, + "zero_position_rad": -1.141184, + "max_position_rad": 0.029564, + "travel_range_rad": 1.170748, + "rad_to_mm": 73.45731105242119, "work_stroke_mm": 80.0, "motor_type": "DM4310" } diff --git a/src/litegrip/constants.py b/src/litegrip/constants.py index 01690f5..a101f41 100644 --- a/src/litegrip/constants.py +++ b/src/litegrip/constants.py @@ -70,9 +70,9 @@ class GripperGeometry: millimetres-per-radian scale is that span over the measured travel in radians (``rad_to_mm``); deriving it from the 85 mm jaw travel instead would leave every mm-based move 1.2% short — 1 mm lost per full stroke. - The factory calibration's own numbers show the pair: 1.409552 rad of - travel is 86 mm at ``61.01229326764816`` mm/rad, and 85 mm at - ``60.303``. + The factory calibration's own numbers show the pair: 1.170748 rad of + travel is 86 mm at ``73.45731105242119`` mm/rad, and 85 mm at + ``72.604``. ``work_stroke_mm`` is measured from the closed zero like :attr:`JAW_TRAVEL_MM`, so a full-stroke ``work_stroke_mm`` is 85 mm, not diff --git a/src/litegrip/factory_calibration.json b/src/litegrip/factory_calibration.json index 465dc8a..a2d0ece 100644 --- a/src/litegrip/factory_calibration.json +++ b/src/litegrip/factory_calibration.json @@ -1,15 +1,16 @@ { "channel": "can0", "can_id": 8, - "mst_id": 24, "canfd_mode": false, - "zero_position_rad": 0.052071, - "max_position_rad": -1.357481, - "travel_range_rad": 1.409552, - "rad_to_mm": 61.01229326764816, + "calibrated": true, + "zero_position_rad": 0.029564, + "max_position_rad": -1.141184, + "travel_range_rad": 1.170748, + "rad_to_mm": 73.45731105242119, "work_stroke_mm": 80.0, "motor_type": "DM4310", "kp": 100.0, "kd": 2.0, - "grasp_torque_threshold": 0.5 + "grasp_torque_threshold": 0.5, + "mst_id": 24 } diff --git a/tests/test_calibration.py b/tests/test_calibration.py index f7fd96c..4f85408 100644 --- a/tests/test_calibration.py +++ b/tests/test_calibration.py @@ -90,15 +90,19 @@ class TestShippedCalibrationFiles(unittest.TestCase): 三份文件各自独立，曾同时停在 ``0.0 / -1.651026 / 52.69``（另一台夹爪的 读数），而出厂值（litegrip-cpp 的 ``calibration/factory_calibration.json``） - 是 ``0.052071 / -1.357481 / 61.01229326764816``。这里把出厂几何钉住，并 + 是 ``0.029564 / -1.141184 / 73.45731105242119``。这里把出厂几何钉住，并 检查三份文件**互相一致**：只改一半（换了 ``rad_to_mm`` 忘了 ``travel_range_rad``）会让 ``open()`` 的行程算错，而单看一份文件看不出来。 + + 出厂几何换过一代：上一代是 ``0.052071 / -1.357481 / 61.01229326764816``， + 同一段 86 mm 跨度记成 ``1.409552`` rad。两代都自洽（跨度都是 86 mm），所以 + 单看一份文件分不出哪份是错的 —— 这正是必须把绝对值钉死、不能只查自洽的原因。 """ # litegrip-cpp/calibration/factory_calibration.json - FACTORY_CLOSED_RAD = 0.052071 # zero_position_rad - FACTORY_OPEN_RAD = -1.357481 # max_position_rad - FACTORY_RAD_TO_MM = 61.01229326764816 + FACTORY_CLOSED_RAD = 0.029564 # zero_position_rad + FACTORY_OPEN_RAD = -1.141184 # max_position_rad + FACTORY_RAD_TO_MM = 73.45731105242119 FACTORY_TRAVEL_MM = 86.0 def _load(self, path): @@ -199,11 +203,23 @@ def test_saved_file_records_calibrated(self): self.assertTrue(json.load(f)["calibrated"]) def test_old_file_without_the_flag_counts_as_calibrated(self): - """工厂文件是 flag 之前的格式，缺键不能当未标定。""" - with open(_FACTORY_CALIB) as f: + """老文件是 flag 之前的格式，缺键不能当未标定。 + + 这个 fixture 自己写 ``calibrated`` 之前的字段，不再借出厂文件当例子 + —— 出厂文件现在带 ``calibrated: true``，一旦它再改格式，这条测试就会 + 因为格式无关的原因红掉（而它在测的是**缺键**的语义，不是出厂文件的内容）。 + """ + path = self._path() + _write_json({"channel": "can0", + "zero_position_rad": 0.052071, + "max_position_rad": -1.357481, + "travel_range_rad": 1.409552, + "rad_to_mm": 61.01229326764816, + "work_stroke_mm": 80.0}, self.dir) + with open(path) as f: self.assertNotIn("calibrated", json.load(f)) g = LiteGrip("can0") - self.assertTrue(g.load_calibration(_FACTORY_CALIB)) + self.assertTrue(g.load_calibration(path)) self.assertTrue(g.config.calibrated) def test_channel_mismatch_warns(self): @@ -273,11 +289,11 @@ class TestDerivedScale(unittest.TestCase): """ def test_the_reference_scale_is_the_hand_recorded_one(self): - """(85 + 1) / 1.409552 必须等于出厂文件里手记的那一个。""" + """(85 + 1) / 1.170748 必须等于出厂文件里手记的那一个。""" self.assertAlmostEqual( (GripperGeometry.JAW_TRAVEL_MM + GripperGeometry.STOP_INSET_MM) - / 1.409552, - 61.01229326764816, + / 1.170748, + 73.45731105242119, places=9) def test_re_running_the_probe_on_a_shipped_unit_reproduces_its_scale(self): @@ -295,11 +311,20 @@ def test_re_running_the_probe_on_a_shipped_unit_reproduces_its_scale(self): places=9) def test_deriving_from_the_jaw_travel_alone_would_be_short(self): - """反例：只除 85 mm 得到的比例矮了一截 —— 钉住分子里有压入量。""" - travel_rad = 1.409552 + """反例：只除 85 mm 得到的比例矮了一截 —— 钉住分子里有压入量。 + + 缺口正好是 ``压入量 / 行程``，不是一个粗差上限：出厂几何换过一代 + （``1.409552`` → ``1.170748`` rad），缺口从 ``0.71`` 涨到 ``0.85`` + mm/rad，写死的上限会随每次重新标定失效，等式不会。 + """ + with open(_FACTORY_CALIB) as f: + travel_rad = json.load(f)["travel_range_rad"] short = GripperGeometry.JAW_TRAVEL_MM / travel_rad - self.assertLess(short, 61.01229326764816) - self.assertLess(61.01229326764816 - short, 0.8) # 粗差，不是笔误量级 + self.assertLess(short, 73.45731105242119) + self.assertAlmostEqual( + 73.45731105242119 - short, + GripperGeometry.STOP_INSET_MM / travel_rad, + places=9) def test_a_coincident_travel_refuses_instead_of_inventing_a_scale(self): """两端止点重合时抛错，绝不再写一个凭空的 105.26 比例。"""