From 161ed2229935028c36e43373d49946ae76e31f22 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Mon, 27 May 2024 11:29:04 +0100
Subject: [PATCH] Fix Unity tests for sensornoise attribute

---
 unity/Runtime/Components/MjGlobalSettings.cs               | 4 ++--
 unity/Tests/Editor/Components/MjGlobalSettingsTests.cs     | 1 -
 unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs | 5 +----
 unity/Tests/Editor/Importer/MjcfImporterTests.cs           | 3 +--
 4 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/unity/Runtime/Components/MjGlobalSettings.cs b/unity/Runtime/Components/MjGlobalSettings.cs
index cd1bbe40..51a245c5 100644
--- a/unity/Runtime/Components/MjGlobalSettings.cs
+++ b/unity/Runtime/Components/MjGlobalSettings.cs
@@ -335,8 +335,8 @@ public class MjGlobalSettings : MonoBehaviour {
         } else if (instances.Length == 1) {
           _instance = instances[0];
         }
-      }
-      return _instance;
+     }
+     return _instance;
     }
   }
 
diff --git a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
index 6575bbf1..4069f45b 100644
--- a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
+++ b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
@@ -101,7 +101,6 @@ public class MjGlobalSettingsGenerationTests {
     Assert.That(_doc.OuterXml, Does.Contain(@"override="));
     Assert.That(_doc.OuterXml, Does.Contain(@"energy="));
     Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"sensornoise="));
   }
 }
 
diff --git a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
index 8a15152f..c1448167 100644
--- a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
+++ b/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
@@ -53,19 +53,16 @@ public class MjBaseSensorTests {
 
   [Test]
   public void GeneratingNoiseAndCutoffMjcf() {
-    _sensor.Noise = 2.0f;
     _sensor.Cutoff = 3.0f;
     _doc.AppendChild(_sensor.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("noise=\"2\""));
     Assert.That(_doc.OuterXml, Does.Contain("cutoff=\"3\""));
   }
 
   [Test]
   public void ParsingShapePropertiesMjcf() {
-    var mjcfString = "<sensor noise=\"3\" cutoff=\"4\" actuator=\"actuator\"/>";
+    var mjcfString = "<sensor cutoff=\"4\" actuator=\"actuator\"/>";
     var mjcfElement = Parse(mjcfString, "sensor");
     _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Noise, Is.EqualTo(3.0f));
     Assert.That(_sensor.Cutoff, Is.EqualTo(4.0f));
   }
 }
diff --git a/unity/Tests/Editor/Importer/MjcfImporterTests.cs b/unity/Tests/Editor/Importer/MjcfImporterTests.cs
index a4bc5a1b..bf4e54b2 100644
--- a/unity/Tests/Editor/Importer/MjcfImporterTests.cs
+++ b/unity/Tests/Editor/Importer/MjcfImporterTests.cs
@@ -274,7 +274,7 @@ public class MjcfImporterTests {
   public void ReadingOptionFlags() {
     var mjcfString = @"<mujoco>
       <option>
-        <flag gravity='disable' contact='disable' sensornoise='enable'/>
+        <flag gravity='disable' contact='disable'/>
       </option>
       <worldbody/>
     </mujoco>";
@@ -283,7 +283,6 @@ public class MjcfImporterTests {
     var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
     Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
     Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable));
-    Assert.That(settings.GlobalOptions.Flag.SensorNoise, Is.EqualTo(EnableDisableFlag.enable));
   }
 
   [Test]