Add Noise to the IMU sensors in the Mujoco simulation#854
Open
MegaIng wants to merge 3 commits into
Open
Conversation
jaagut
reviewed
May 17, 2026
jaagut
reviewed
May 22, 2026
Comment on lines
18
to
21
| from bitbots_mujoco_sim.robot import Robot | ||
|
|
||
| if TYPE_CHECKING: | ||
| from bitbots_mujoco_sim.simulation import RobotSimulation |
Member
There was a problem hiding this comment.
You actually use this in line 66, so it will fail if TYPE_CHECKING == False
Suggested change
| from bitbots_mujoco_sim.robot import Robot | |
| from bitbots_mujoco_sim.simulation import RobotSimulation |
Member
There was a problem hiding this comment.
Hmm. GitHub's suggestions are broken.
Contributor
Author
There was a problem hiding this comment.
This is not something I changed. This is also correct since RobotSimulation actually gets defined in this file.
I am less sure why this is forward declared in this way.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Adds noise for the IMU in the Mujoco simulation. The default parameters approximate a simple measurement of a real robot, but no systematic measurement has been done. No systematic biases have been measured, which matches others experiences. The ability to add these has still been provided incase people want to test this ability out.
Proposed changes
Add helper classes
NoisySensorandNoisyQuternionSensor. This would also simplify if we ever want to add noise to the other sensors.Add parameter handling for the noise parameters. Also update handling of a few of the older parameters, AFAICT, the
get_parameter_ordoes not actually work the way it was used before (at least I couldn't get it to work with my new parameters).Related issues
closes #825
Checklist
pixi run buildTest on the robot