protected virtual UnityEngine.Vector3 GetPosObservationNoise() { float vx = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.0005f), -0.0015f, +0.0015f); float vy = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.0005f), -0.0015f, +0.0015f); return(new UnityEngine.Vector3(vx, vy, 0.0f)); }
protected virtual UnityEngine.Vector3 GetRotObservationNoise() { float vz = Mathf.Clamp(SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.01f), -0.03f, +0.03f); return(new UnityEngine.Vector3(0.0f, 0.0f, vz)); }
protected virtual float GetRotNoise(float val) { float randomNumber = SIGVerseUtils.GetRandomNumberFollowingNormalDistribution(0.3f); // sigma=0.3 return(val * Mathf.Clamp(randomNumber, -0.9f, +0.9f)); // 3 * sigma }