feat: configure FRI position smoothing

2026-09-16 15:06:17 +10:00
parent 29a1601061
commit 1780532f51
14 changed files with 67 additions and 11 deletions
@@ -51,6 +51,7 @@ def _runtime_setup(context, *args, **kwargs):
            "robot_ip": settings.robot.ip,
            "fri_port": str(settings.robot.port),
            "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
+            "joint_position_tau": str(settings.robot.joint_position_tau),
            "simulate": "false",
        }

@@ -117,6 +118,7 @@ def _runtime_setup(context, *args, **kwargs):
            "rotation": str(settings.digital_twin.webots.rotation),
            "controller_timer": str(settings.digital_twin.webots.controller_timer),
            "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
+            "joint_position_tau": str(settings.robot.joint_position_tau),
            "robot_ip": settings.robot.ip,
            "fri_port": str(settings.robot.port),
        }
@@ -125,6 +127,7 @@ def _runtime_setup(context, *args, **kwargs):
        setup.append(LogInfo(msg=(
            "FRI configured from cobot-setting.yaml: "
            f"period={settings.robot.fri_cycle_ms} ms, "
+            f"position_tau={settings.robot.joint_position_tau:.3f} s, "
            f"endpoint={settings.robot.ip}:{settings.robot.port}"
        )))