Merge pull request #12 from HebiRobotics/gogiputtar/minor_fixes

Minor fixes
HebiRobotics · Sep 11, 2024 · e26c3eb · e26c3eb
2 parents 857ee4e + 2f1fdba
commit e26c3eb
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/arms/config/ex_AR_kit.cfg.yaml b/arms/config/ex_AR_kit.cfg.yaml
@@ -27,6 +27,9 @@ user_data:
   # Time taken for a steady motion to the home position
   homing_duration: 4 # seconds
 
+  # Latency in tracking the AR pose. Increase this to avoid jerks
+  latency: 0.3 # milliseconds
+
   # Displacements of the phone are scaled by this value to give displacement of the end-effector
   xyz_scale: 0.75
 

diff --git a/arms/config/ex_AR_kit_w_gripper.cfg.yaml b/arms/config/ex_AR_kit_w_gripper.cfg.yaml
@@ -25,7 +25,10 @@ user_data:
   home_position: [0, 1.0471975511965976, 1.5707963267948966, 2.0943951023931953, -1.5707963267948966, 0] # radians
 
   # Time taken for a steady motion to the home position
-  soft_start_time: 4 # seconds
+  homing_duration: 4 # seconds
+
+  # Latency in tracking the AR pose. Increase this to avoid jerks
+  latency: 0.3 # milliseconds
 
   # Displacements of the phone are scaled by this value to give displacement of the end-effector
   xyz_scale: 0.75