Fix delay - #25
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olivefi wants to merge 2 commits into
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I think feed forward torques should also be delayed (together with position and velocity). What do you think? If you agree, could you simply add effort also as delayed parameters and commit? |
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Changes the delay to instead buffer position/velocity targets.
Previous implementation delayed torques themselves, which could lead to unstable behaviour at higher delays. Now the low level controller is always stable, just the commands themselves are delayed.