Add Noise to the IMU sensors in the Mujoco simulation#854
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Summary
Adds noise for the IMU in the Mujoco simulation. The default parameters approximate a simple measurement of a real robot, but no systematic measurement has been done. No systematic biases have been measured, which matches others experiences. The ability to add these has still been provided incase people want to test this ability out.
Proposed changes
Add helper classes
NoisySensorandNoisyQuternionSensor. This would also simplify if we ever want to add noise to the other sensors.Add parameter handling for the noise parameters. Also update handling of a few of the older parameters, AFAICT, the
get_parameter_ordoes not actually work the way it was used before (at least I couldn't get it to work with my new parameters).Related issues
closes #825
Checklist
pixi run buildTest on the robot