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angelacmaioangelacmaio
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new IMU noise model (#798)
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31 files changed

+1740
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‎submitted_models/cerberus_anymal_b_sensor_config_1/model.sdf

Lines changed: 71 additions & 65 deletions
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@@ -231,71 +231,77 @@
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<always_on>1</always_on>
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<update_rate>400</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>1e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>1e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>1e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.009</stddev>
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<bias_mean>0.00075</bias_mean>
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<bias_stddev>0.005</bias_stddev>
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<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
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<precision>0.00025</precision>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.009</stddev>
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<bias_mean>0.00075</bias_mean>
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<bias_stddev>0.005</bias_stddev>
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<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
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<precision>0.00025</precision>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.009</stddev>
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<bias_mean>0.00075</bias_mean>
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<bias_stddev>0.005</bias_stddev>
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<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
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<precision>0.00025</precision>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.021</stddev>
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<bias_mean>0.05</bias_mean>
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<bias_stddev>0.0075</bias_stddev>
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<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
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<precision>0.005</precision>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.021</stddev>
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<bias_mean>0.05</bias_mean>
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<bias_stddev>0.0075</bias_stddev>
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<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
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<precision>0.005</precision>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.021</stddev>
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<bias_mean>0.05</bias_mean>
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<bias_stddev>0.0075</bias_stddev>
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<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
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<precision>0.005</precision>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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<sensor name="front_laser" type="gpu_lidar">

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