Filters

The service applies a chain of filters to outgoing forces before they reach the device. Each filter can be configured per-session (via configure or HTTP) or globally (via settings).

Filter pipeline

Forces pass through these stages in order:

your force → [osc-damper] → [force-gate] → [damping] → [force-scale] → device

Stage	What it does	Scope	How to configure
Osc-damper	Detects oscillation, reduces gain	Per-device (automatic)	Internal — not user-configurable
Force gate	Attenuates force during detected oscillation	Per-session	configure.force_gate or config/filters/force_gate
Damping	Adds viscous resistance (scalar and/or directional)	Per-session	configure.damping or config/filters/damping
Force scale	Global multiplier on all forces	Global	POST /settings → devices/force_scale

Safe trajectory

Safe trajectory is a position-mode filter — it rate-limits the cursor velocity when using set_cursor_position, ensuring smooth motion toward the target.

Setting key	Default	Description
features/safe_trajectory/enabled	false	Enable position rate limiting
features/safe_trajectory/max_vel	0.5	Maximum cursor velocity (m/s)

Configure via Settings:

curl -X POST http://localhost:10001/settings \
     -H "Content-Type: application/json" \
     -d '{"features/safe_trajectory/enabled": true, "features/safe_trajectory/max_vel": 0.3}'