Modeling encoders and actuator delay in cassie sim - Githubissues

DAIRLab / dairlib

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Modeling encoders and actuator delay in cassie sim #248

Closed yangwill closed 3 years ago

yangwill commented 3 years ago

This PR adds in actuator delay and encoder resolution to the Cassie sim

Actuator delay can be set to 0 to remove its effect
The encoder resolution is only applied to the lcmt_cassie_out message similar to Mujoco, this way the lcmt_robot_output remains as the ground truth robot state.

This change is