is option/flag sensornoise attribute deprecated? #1602

songdaegeun · 2024-04-18T05:21:54Z

songdaegeun
Apr 18, 2024

I'm using mujoco3.1.4.
I wrote xml file as follow.
but jointpos's sensor data don't seem to has noise.
I doubt that this is problem about sensornoise, but I can't find this attribute in docs.

<mujoco>
  <!-- <option>
		<flag sensornoise="enable"/>
  </option> -->
  <worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
    <geom type="plane" size="10 1 0.1" rgba=".9 0 0 1"/>
    <body pos="0 0 2" euler="0 180 0">
      <joint name="pin" type="hinge" pos="0 0 .5" axis="0 -1 0"/>
      <geom type="cylinder" size=".05 .5" rgba="0 .9 0 1" mass="1"/>
    </body>
  </worldbody>
  <actuator>
	<motor joint="pin" name="torque" ctrllimited="true" ctrlrange="-100 100"/>
	<!-- PD control for position control-->
	<position name="position servo" joint="pin" kp="0"/>
	<velocity name="velocity servo" joint="pin" kv="0"/>
	<!-- PD control -->
  </actuator>
  <sensor>
  	<jointpos joint="pin" noise="1000000000000000000000"/>
	<jointvel joint="pin" noise="1"/> 
  </sensor>
</mujoco>

yuvaltassa · 2024-04-19T15:08:09Z

yuvaltassa
Apr 19, 2024
Maintainer

See item 1 in the 3.1.4 changelog
https://mujoco.readthedocs.io/en/3.1.4/changelog.html

1 reply

songdaegeun Apr 21, 2024
Author

thanks for your help!

yuvaltassa · 2024-04-19T15:09:07Z

yuvaltassa
Apr 19, 2024
Maintainer

I guess we are now aware of at least one person who was using this feature 😸

0 replies

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yuvaltassa Apr 19, 2024 Maintainer

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Apr 19, 2024
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