How smooth can a motor run at low speed?

I just watched a tutotrial on how to control the odrive from as Raspberry Pi. I noticed that the motor doesn’t rum very smooth at low speeds, even though a 8096 steps encoder is used. Why is that the case? Is he using wrong parameters or is it just an inherent limitation of the motor?

I mean this video at this time:

It’s both. Cheap motors have high cogging torque. You can compensate for this by using higher position & velocity gains, or by trying out the “anticogging” feature.

He is using the original odrive D5065, does this fall into the “cheap motor with high cogging torque” category?

Yes. Pretty well all hobby grade brushless motors are like that.