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dgottlieb
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Apr 14, 2026
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Lots of code changes! Little dense to grok with just a glance. So I just left some surface level feedback before realizing I needed more context to review: can you add to the PR description the updated sequence of API calls an example run might make? Where the example is perhaps:
- User pushes in right trigger
- Moves right arm
- Pushes in left trigger
- Moves left and right arm
- Lets go of left trigger
- Closes right gripper
- Lets go of right trigger
That'll help aid me in understanding the inputs to each of these teleop invocations.
| // the arm's built-in interpolation is enabled for smooth motion. Default 0.005. | ||
| TeleopSmallMoveRad float64 `json:"teleop_small_move_rad"` | ||
| // TeleopInterpolateOverride when true forces interpolation ON for all teleop | ||
| // movements regardless of size. Useful for testing. |
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What does testing mean here? Doesn't seem to be for unit testing.
Why is "testing" in the office different than a real demo?
| // TeleopInterpolateOverride when true forces interpolation ON for all teleop | ||
| // movements regardless of size. Useful for testing. | ||
| TeleopInterpolateOverride bool `json:"teleop_interpolate_override"` | ||
| // TeleopSmoothAlpha is the EMA smoothing factor for joint positions (0-1). |
| TeleopInterpolateOverride bool `json:"teleop_interpolate_override"` | ||
| // TeleopSmoothAlpha is the EMA smoothing factor for joint positions (0-1). | ||
| // Lower = smoother but more latency, higher = more responsive but less smooth. | ||
| // 0 = frozen, 1 = no smoothing. Default 0.5. |
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Is this really about how many points to batch up before sending to planning/smooth? I think we can afford to be more transparent with how the tradeoff works in the documentation. Even if the 0->1 slider will always be opaque.
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Made the teleop pipeline accept 2 arm poses in the same planning pipeline, to enable bimanual teleoperation.
Also added smoothing to further clean up gutters rigid movement.