Remove sensor noise properties

unity/Runtime/Components/MjGlobalSettings.cs

@@ -73,7 +73,6 @@ public struct MjcfOptionFlag {
   public EnableDisableFlag Override;
   public EnableDisableFlag Energy;
   public EnableDisableFlag FwdInv;
-  public EnableDisableFlag SensorNoise;
   public EnableDisableFlag MultiCCD;
   public static MjcfOptionFlag Default = new MjcfOptionFlag() {
     Constraint = EnableDisableFlag.enable,
@@ -91,7 +90,6 @@ public struct MjcfOptionFlag {
     Override = EnableDisableFlag.disable,
     Energy = EnableDisableFlag.disable,
     FwdInv = EnableDisableFlag.disable,
-    SensorNoise = EnableDisableFlag.disable,
     MultiCCD = EnableDisableFlag.disable
   };
 
@@ -114,7 +112,6 @@ public struct MjcfOptionFlag {
     Override = mjcf.GetEnumAttribute<EnableDisableFlag>("override", localDefault.Override);
     Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy);
     FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv);
-    SensorNoise = mjcf.GetEnumAttribute<EnableDisableFlag>("sensornoise", localDefault.SensorNoise);
     MultiCCD = mjcf.GetEnumAttribute<EnableDisableFlag>("multiccd", localDefault.MultiCCD);
   }
 
@@ -134,7 +131,6 @@ public struct MjcfOptionFlag {
     mjcf.SetAttribute("override", Override.ToString());
     mjcf.SetAttribute("energy", Energy.ToString());
     mjcf.SetAttribute("fwdinv", FwdInv.ToString());
-    mjcf.SetAttribute("sensornoise", SensorNoise.ToString());
     mjcf.SetAttribute("multiccd", MultiCCD.ToString());
   }
 }

unity/Runtime/Components/Sensors/MjBaseSensor.cs

@@ -38,10 +38,6 @@ namespace Mujoco {
 // supported observation types.
 public abstract class MjBaseSensor : MjComponent {
 
-  [Tooltip("The standard deviation of zero-mean Gaussian noise added to the sensor output.")]
-  [AbsoluteValue]
-  public float Noise = 0.0f;
-
   [Tooltip("When this value is positive, it limits the absolute value of the sensor output.")]
   [AbsoluteValue]
   public float Cutoff = 0.0f;
@@ -53,7 +49,6 @@ public abstract class MjBaseSensor : MjComponent {
 
   // Parse the component settings from an external Mjcf.
   protected override void OnParseMjcf(XmlElement mjcf) {
-    Noise = mjcf.GetFloatAttribute("noise", defaultValue: 0.0f);
     Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f);
     FromMjcf(mjcf);
   }
@@ -61,7 +56,6 @@ public abstract class MjBaseSensor : MjComponent {
   // Generate implementation specific XML element.
   protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
     var mjcf = ToMjcf(doc);
-    mjcf.SetAttribute("noise", Noise.ToString());
     mjcf.SetAttribute("cutoff", Cutoff.ToString());
     return mjcf;
   }