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fix: smooth FRI position commands

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Даниил Грабарь
2026-09-16 15:00:14 +10:00
parent fd66c8c7ec
commit 29a1601061
5 changed files with 18 additions and 9 deletions
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doc/lwc-doc/docs/getting-started/configuration.en.md
+1 -1
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@@ -37,7 +37,7 @@ robot:
| `fri_cycle_ms` | FRI cycle: `5` ms = 200 Hz, `10` ms = 100 Hz | Use `10` for stable operation or `5` for high-precision tasks |
| `description` | Path to the robot URDF | Do not change |
Motion always uses JointTrajectoryController. Position and velocity EMA filters are not applied.
Motion always uses JointTrajectoryController. The position command is smoothed before FRI transmission with a 40 ms EMA time constant; no velocity filter is applied.
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