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
@@ -7,6 +7,7 @@
    <xacro:arg name="robot_ip" default="192.170.10.2"/>
    <xacro:arg name="fri_port" default="30200"/>
    <xacro:arg name="fri_cycle_ms" default="5"/>
+    <xacro:arg name="joint_position_tau" default="0.04"/>

    <xacro:property name="initial_positions"
                    value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -145,6 +146,7 @@
                <param name="robot_ip">$(arg robot_ip)</param>
                <param name="fri_port">$(arg fri_port)</param>
                <param name="fri_cycle_ms">$(arg fri_cycle_ms)</param>
+                <param name="joint_position_tau">$(arg joint_position_tau)</param>
                <param name="rt_prio">80</param>
                <param name="simulate">false</param>
            </hardware>