Prevent division by zero in Ornstein–Uhlenbeck control noise.

PiperOrigin-RevId: 498753494 Change-Id: Ib43e165a4da524c12fab4ea05848b084b2e7713c
2022-12-31 10:28:11 -08:00
parent eb8389fead
commit a173e01f42
4 changed files with 7 additions and 2 deletions
@@ -136,7 +136,8 @@ def _physics_loop(simulate: Simulate, loader: Optional[_InternalLoaderType]):
          # Inject noise.
          if simulate.ctrlnoisestd != 0.0:
            # Convert rate and scale to discrete time (Ornstein–Uhlenbeck).
-            rate = math.exp(-m.opt.timestep / simulate.ctrlnoiserate)
+            rate = math.exp(-m.opt.timestep /
+                            max(simulate.ctrlnoiserate, mujoco.mjMINVAL))
            scale = simulate.ctrlnoisestd * math.sqrt(1 - rate * rate)

            for i in range(m.nu):