modif of noise in raycast sensor

mpi_sim/components/raycast_sensor.py

@@ -59,8 +59,7 @@ class RayCastSensor(SensorComponent):
         dc.field_of_view = 360 # Range of the lidar in degree
         dc.delta_angle = 2. # Angle between two beams of lidar in degree
         dc.ray_max_range = 20 # Max distance readable by a given beam
-        dc.noise = None
-        dc.noise_ratio = 0.1
+        dc.noise_ratio = 0
         dc.draw_raycast = False
         dc.update_raycast_every_step = False
         dc.max_raycast_shape = 'square' # can either be a 'circle' or a 'square'
@@ -159,9 +158,7 @@ class RayCastSensor(SensorComponent):
         self.ray_distance_list = []
         self.coord_point_rays = []
         # Measurement Noise
-        noise = 0
-        if self.config.noise :
-            noise = np.random.random(size=2)*self.config.noise_ratio
+        noise = np.random.normal(0,1,size=2)*self.config.noise_ratio