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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Low-level position control frequency (Go1 Edu) #98

Open vassil-atn opened 1 year ago

vassil-atn commented 1 year ago

Hi, I read the other issue (https://github.com/unitreerobotics/unitree_legged_sdk/issues/41) where it's discussed that the low-level position controller runs at a much higher frequency (10-20kHz). I had a few questions regarding this I was hoping you could clarify.

1) Is there a way to control the frequency of this low-level position controller, or is it fixed?

2) If I have a policy that runs at 50 Hz (i.e. q_des is changed at 50Hz), does it make any difference what frequency I use for the control loop (udp control_loop() ) that passes this q_des to the low-level position controller? As far as I understand it should make no difference whether I give q_des at 200,500 or 1000 Hz, assuming that the policy output q_des remains the same. Or does sending commands (despite q_des being the same) somehow change the performance of the low-level controller.

3) In the other thread you mention a range of 10-20kHz, do you have a more exact value?

Thank you and I appreciate your input!

xyq1223 commented 1 year ago

Hello, the highest frequency value of q_des is 1000 Hz. In addition, regarding the more precise value you mentioned, it is not necessary to provide a specific specific value, because it has no specific use