Recommended controller for high-frequency position commands from RL policy

[Sylelil]

Hi,

I’m using the ur_robot_driver with a real UR10e robot and I have a reinforcement learning (RL) policy that outputs joint position commands at 60 Hz or higher.

I would like to know:

• Which controller is recommended for sending direct joint position commands at this high frequency while ensuring safe and smooth execution?
• Is the forward_position_controller suitable for this use case on real hardware, or should I use one of the trajectory controllers (e.g., scaled_joint_trajectory_controller)?
• Are there best practices for integrating high-frequency position commands from an RL policy with the UR hardware interface?

Thanks for your guidance!