In GLRealtimeProgram class, there is a function named idle and control_loop. However, idle is called at 50 Hz but control_loop is never called. Controller has higher rate than 50 Hz, how to set controller at higher rate?
Quote from Kris' reply
idle() is called whenever your program is idle, and will handle simulation + GUI redrawing. control_loop() is just a convenient place to put control code, specifically (for example, if you want to switch your code to do command-line simulation). If you don't call control_loop in idle(), then it won't be called.
One tip: if you switch to using GLSimulationPlugin as your superclass, the simStep method automatically calls control_loop. You can step through the program with [space], toggle simulation on and off using 's', and you don't have to override idle.