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Improvements to control noise in simulate:

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- Use `ctrl` as filter state rather than external preallocated buffer.
- Scale and clip to control ranges.
- Exponential decay to the middle of the range.
- Scale is now [0 1] (scaled to range).
- Rate is now [0 20].

PiperOrigin-RevId: 642586333
Change-Id: Id45a0420736a6edcf09be1db53d9320e7df2c668
This commit is contained in:
Yuval Tassa
2024-06-12 05:34:40 -07:00
committed by Copybara-Service
parent 64cd44252f
commit f37f840880
2 changed files with 21 additions and 24 deletions
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simulate/simulate.h
+2 -2
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@@ -293,8 +293,8 @@ class Simulate {
{mjITEM_SLIDERINT, "Key", 3, &this->key, "0 0"},
{mjITEM_BUTTON, "Load key", 3},
{mjITEM_BUTTON, "Save key", 3},
{mjITEM_SLIDERNUM, "Noise scale", 5, &this->ctrl_noise_std, "0 2"},
{mjITEM_SLIDERNUM, "Noise rate", 5, &this->ctrl_noise_rate, "0 2"},
{mjITEM_SLIDERNUM, "Noise scale", 5, &this->ctrl_noise_std, "0 1"},
{mjITEM_SLIDERNUM, "Noise rate", 5, &this->ctrl_noise_rate, "0 20"},
{mjITEM_SEPARATOR, "History", 1},
{mjITEM_SLIDERINT, "", 5, &this->scrub_index, "0 0"},
{mjITEM_END}