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Impedance controller might be running slightly below desired loop frequency #7

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LouKordos opened this issue Jan 19, 2021 · 1 comment
Open

Impedance controller might be running slightly below desired loop frequency #7

LouKordos opened this issue Jan 19, 2021 · 1 comment
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bug Something isn't working
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Reliable Walking ...

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@LouKordos
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The controller logs show an average loop time of ~1020µS for every impedance control thread,which is slightly above the limit for the desired 1kHz frequency.
@LouKordos LouKordos added the bug Something isn't working label Jan 19, 2021
@LouKordos LouKordos self-assigned this Jan 19, 2021
@LouKordos LouKordos changed the title Impendace controller might be running slightly below desired loop frequency Impedance controller might be running slightly below desired loop frequency Jan 20, 2021
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LouKordos commented Jan 20, 2021 •
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To make sure it's not being artificially limited, comment out nanosleep in biped plugin and look at iteration times.

To test this, solve #56.

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Reliable Walking in Gazebo Bullet
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