RTDE Timing Issues: Input Registers Not Updating Correctly at 500 Hz on UR5

[forbech]

Maybe same problem as described here:

Strange behavior with multiple RTDE clients enabled

I am working with an ATI sensor and also streaming points to the robot using RTDE. I’ve noted that when I use just the RTDE interface, the robot appears to move quite smoothly, but when I wrap the move command in polyscope with the force command the update rate on point streaming decreases significantly. Does anyone have any suggestions on how this might be resolved?