Skip to content

Fix inaccurate doc #504

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
euyniy merged 1 commit into from
May 21, 2026
+2 −2
Merged

Fix inaccurate doc #504

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions website/docs/tutorial/inference.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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],
...
Expand All @@ -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:
Expand Down