From 995260dfdf93f9d1fb51a1fb0e12d109c8efebaf Mon Sep 17 00:00:00 2001 From: glannuzel Date: Wed, 24 Jan 2024 12:37:22 +0100 Subject: [PATCH] Set stream freq to 80Hz Setting stream freq to 80Hz seems to give enough time for the server to internally update its state and avoid overwriting of the goal_position --- src/reachy2_sdk/reachy_sdk.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/reachy2_sdk/reachy_sdk.py b/src/reachy2_sdk/reachy_sdk.py index 49839425..711024ef 100644 --- a/src/reachy2_sdk/reachy_sdk.py +++ b/src/reachy2_sdk/reachy_sdk.py @@ -455,8 +455,8 @@ async def _sync_loop(self) -> None: try: await asyncio.gather( - self._stream_orbita2d_commands_loop(orbita2d_stub, freq=100), - self._stream_orbita3d_commands_loop(orbita3d_stub, freq=100), + self._stream_orbita2d_commands_loop(orbita2d_stub, freq=80), + self._stream_orbita3d_commands_loop(orbita3d_stub, freq=80), # self._stream_dynamixel_motor_commands_loop(dynamixel_motor_stub, freq=100), self._get_stream_update_loop(reachy_stub, freq=100), self._wait_for_stop(),