From ba310be0324832e262de0e3863a1ed53bc22e404 Mon Sep 17 00:00:00 2001 From: euyniy Date: Thu, 21 May 2026 11:54:49 +0900 Subject: [PATCH] Fix inaccurate doc --- website/docs/tutorial/inference.mdx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/website/docs/tutorial/inference.mdx b/website/docs/tutorial/inference.mdx index 31e5025f..6adcf35d 100644 --- a/website/docs/tutorial/inference.mdx +++ b/website/docs/tutorial/inference.mdx @@ -123,7 +123,7 @@ Write a single JSON line back to the socket: ```json { "interval": 33333333, - "cutoff_hz": 5, + "cutoff_hz": 15, "positions": [ [q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11, q12, q13, q14, q15], ... @@ -134,7 +134,7 @@ Write a single JSON line back to the socket: | Field | Type | Meaning | |---|---|---| | `interval` | int (ns) | Time between consecutive position steps. `int(1e9 / 30)` ≈ 33 ms for 30 Hz | -| `cutoff_hz` | number, optional | Execute only the first N steps of the chunk before the next inference for receding horizon control | +| `cutoff_hz` | number, optional | The low-pass filter cutoff frequency (Hz) lower = smoother motion, higher = more responsive. | | `positions` | `List[List[float]]` length T | Each inner list is 16 floats: `right_arm[7] + right_gripper[1] + left_arm[7] + left_gripper[1]` | If you want to skip inference this tick (e.g. rate-limiting), return an empty positions list: