chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove sensor noise properties

Browse Source
This commit is contained in:
Bálint Hodossy
2024-05-10 16:12:51 +01:00
parent 65d4f04cd4
commit a9308a4420
2 changed files with 0 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Components/MjGlobalSettings.cs
-4
View File
@@ -73,7 +73,6 @@ public struct MjcfOptionFlag {
public EnableDisableFlag Override; public EnableDisableFlag Override;
public EnableDisableFlag Energy; public EnableDisableFlag Energy;
public EnableDisableFlag FwdInv; public EnableDisableFlag FwdInv;
public EnableDisableFlag SensorNoise;
public EnableDisableFlag MultiCCD; public EnableDisableFlag MultiCCD;
public static MjcfOptionFlag Default = new MjcfOptionFlag() { public static MjcfOptionFlag Default = new MjcfOptionFlag() {
Constraint = EnableDisableFlag.enable, Constraint = EnableDisableFlag.enable,
@@ -91,7 +90,6 @@ public struct MjcfOptionFlag {
Override = EnableDisableFlag.disable, Override = EnableDisableFlag.disable,
Energy = EnableDisableFlag.disable, Energy = EnableDisableFlag.disable,
FwdInv = EnableDisableFlag.disable, FwdInv = EnableDisableFlag.disable,
SensorNoise = EnableDisableFlag.disable,
MultiCCD = EnableDisableFlag.disable MultiCCD = EnableDisableFlag.disable
}; };
@@ -114,7 +112,6 @@ public struct MjcfOptionFlag {
Override = mjcf.GetEnumAttribute<EnableDisableFlag>("override", localDefault.Override); Override = mjcf.GetEnumAttribute<EnableDisableFlag>("override", localDefault.Override);
Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy); Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy);
FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv); FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv);
SensorNoise = mjcf.GetEnumAttribute<EnableDisableFlag>("sensornoise", localDefault.SensorNoise);
MultiCCD = mjcf.GetEnumAttribute<EnableDisableFlag>("multiccd", localDefault.MultiCCD); MultiCCD = mjcf.GetEnumAttribute<EnableDisableFlag>("multiccd", localDefault.MultiCCD);
} }
@@ -134,7 +131,6 @@ public struct MjcfOptionFlag {
mjcf.SetAttribute("override", Override.ToString()); mjcf.SetAttribute("override", Override.ToString());
mjcf.SetAttribute("energy", Energy.ToString()); mjcf.SetAttribute("energy", Energy.ToString());
mjcf.SetAttribute("fwdinv", FwdInv.ToString()); mjcf.SetAttribute("fwdinv", FwdInv.ToString());
mjcf.SetAttribute("sensornoise", SensorNoise.ToString());
mjcf.SetAttribute("multiccd", MultiCCD.ToString()); mjcf.SetAttribute("multiccd", MultiCCD.ToString());
} }
} }
unity/Runtime/Components/Sensors/MjBaseSensor.cs
-6
View File
@@ -38,10 +38,6 @@ namespace Mujoco {
// supported observation types. // supported observation types.
public abstract class MjBaseSensor : MjComponent { 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.")] [Tooltip("When this value is positive, it limits the absolute value of the sensor output.")]
[AbsoluteValue] [AbsoluteValue]
public float Cutoff = 0.0f; public float Cutoff = 0.0f;
@@ -53,7 +49,6 @@ public abstract class MjBaseSensor : MjComponent {
// Parse the component settings from an external Mjcf. // Parse the component settings from an external Mjcf.
protected override void OnParseMjcf(XmlElement mjcf) { protected override void OnParseMjcf(XmlElement mjcf) {
Noise = mjcf.GetFloatAttribute("noise", defaultValue: 0.0f);
Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f); Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f);
FromMjcf(mjcf); FromMjcf(mjcf);
} }
@@ -61,7 +56,6 @@ public abstract class MjBaseSensor : MjComponent {
// Generate implementation specific XML element. // Generate implementation specific XML element.
protected override XmlElement OnGenerateMjcf(XmlDocument doc) { protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = ToMjcf(doc); var mjcf = ToMjcf(doc);
mjcf.SetAttribute("noise", Noise.ToString());
mjcf.SetAttribute("cutoff", Cutoff.ToString()); mjcf.SetAttribute("cutoff", Cutoff.ToString());
return mjcf; return mjcf;
} }