Ctrl Freq and Simulation Freq Questions

[zcase]

@JacopoPan in a previous issue thread you said:

Ctrl freq is both the frequency at which observations are produced and actions are taken by the environment.
(Sim freq is the frequency at which the PyBullet step is called, normally greater than ctrl freq).

A lot of the default values are set at 30. Is this 30 in hertz? Also is sim frequency in hertz?

To your knowledge is there a case were you would want ctrl_freq > sim_freq?

[JacopoPan]

The default sim/PyBullet frequency is 240Hz, the control frequencies in the examples are between 30 and 240Hz.
For low-level control, one might want to increase both for better numerical accuracy but making the control frequency greater than the simulation frequency will result in inputs/controls/actions being computed more often than the simulation state is updated which is unlikely to be useful.