def get_motion_sensors(self):
acc, theta, omega, z = (yield from
super().get_motion_sensors())
acc = apply_noise(acc, self.acc_noise)
theta = apply_noise(theta, self.theta_noise)
omega = apply_noise(omega, self.omega_noise)
z = apply_noise(z, self.z_noise)
return acc, theta, omega, z
def lift(self, pomega):
return self.lift_per_motor * apply_noise(
pomega, self.lift_noise
)