Remove native sensor noise sampling.
PiperOrigin-RevId: 620075316 Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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47ba72ea59
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5d26b50fce
@@ -2129,12 +2129,6 @@ from its default.
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When this flag is enabled, :ref:`mj_inverse` will interpret ``qacc`` as having been computed from the difference of
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two sequential velocities, and undo the above modification.
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.. _option-flag-sensornoise:
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:at:`sensornoise`: :at-val:`[disable, enable], "disable"`
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This flag enables the simulation of sensor noise. When disabled (which is the default) noise is not added to
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sensordata, even if the sensors specify non-zero noise amplitudes. When enabled, zero-mean Gaussian noise is added to
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the underlying deterministic sensor data. Its standard deviation is determined by the noise parameter of each sensor.
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.. _option-flag-multiccd:
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+2
-2
@@ -247,9 +247,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`sensornoise<option-flag-sensornoise>` | |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
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| | | | :ref:`island<option-flag-island>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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+26
-10
@@ -7,29 +7,45 @@ Upcoming version (not yet released)
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General
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^^^^^^^
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1. Added the :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` joint attribute. When enabled, gravity compensation
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.. admonition:: Breaking API changes
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:class: attention
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1. Removed the ability to natively add noise to sensors. Note that the ``mjModel.sensor_noise`` field and
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:ref:`corresponding attribute<CSensor>` are kept and now function as a convenient location for the user to save
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standard-deviation information for their own use. This feature was removed because:
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- There was no mechanism to seed the randon noise generator.
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- It was not thread-safe, even if seeding would have been provided, sampling on multiple threads would lead to
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non-reproducible results.
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- This feature was seen as overreach by the engine. Adding noise should be the user's responsibility.
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- We are not aware of anyone who was actually using the feature.
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**Migration:** Add noise to sensor values yourself.
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2. Added the :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` joint attribute. When enabled, gravity compensation
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forces on the joint are treated as applied by actuators. See attribute documentation for more details. The example
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model
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`refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__,
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which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
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2. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
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3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
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MJX
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^^^
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3. Improved performance of SAT for convex collisions.
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4. Fixed bug for sphere/capsule-convex deep penetration.
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5. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
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6. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
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4. Improved performance of SAT for convex collisions.
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5. Fixed bug for sphere/capsule-convex deep penetration.
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6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
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7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
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Simulate
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^^^^^^^^
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7. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
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:ref:`invdiscrete<option-flag-invdiscrete>` or :ref:`sensornoise<option-flag-sensornoise>`
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flags would actually toggle the other flag.
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8. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
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:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
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other flag.
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Python bindings
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^^^^^^^^^^^^^^^
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8. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
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9. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
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The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
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Kinematics, is available here: |ls_colab|
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@@ -426,12 +426,11 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
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mjENBL_ENERGY = 1<<1, // energy computation
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mjENBL_FWDINV = 1<<2, // record solver statistics
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mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
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mjENBL_SENSORNOISE = 1<<4, // add noise to sensor data
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// experimental features:
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mjENBL_MULTICCD = 1<<5, // multi-point convex collision detection
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mjENBL_ISLAND = 1<<6, // constraint island discovery
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mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
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mjENBL_ISLAND = 1<<5, // constraint island discovery
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mjNENABLE = 7 // number of enable flags
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mjNENABLE = 6 // number of enable flags
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} mjtEnableBit;
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typedef enum mjtJoint_ { // type of degree of freedom
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mjJNT_FREE = 0, // global position and orientation (quat) (7)
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+4
-3
@@ -1057,9 +1057,10 @@ Here we describe the XML attributes common to all sensor types, so as to avoid r
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:at:`name`: :at-val:`string, optional`
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Name of the sensor.
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:at:`noise`: :at-val:`real, "0"`
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The standard deviation of zero-mean Gaussian noise added to the sensor output, when the :at:`sensornoise`
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attribute of :ref:`flag <option-flag>` is enabled. Sensor noise respects the sensor data type:
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quaternions and unit vectors remain normalized, non-negative quantities remain non-negative.
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The standard deviation of the noise model of this sensor. In versions prior to 3.1.4, this would lead to noise being
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added to the sensors. In release 3.1.4 this feature was removed, see :doc:`3.1.4 changelog <changelog>` for a
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detailed justification. As of subsequent versions, this attrbute serves as a convenient location for saving standard
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deviation information for later use.
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:at:`cutoff`: :at-val:`real, "0"`
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When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
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sensor output in the sensor data plots in :ref:`simulate.cc <saSimulate>`.
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