unilab.envs.motion_tracking.g1.tracking_obs.ObsNoiseConfig
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class unilab.envs.motion_tracking.g1.tracking_obs.ObsNoiseConfig[source]
Bases: NoiseConfig
Actor obs masking flags + proprio history depth.
Defaults preserve baseline behaviour so the parent NoiseConfig remains
a drop-in replacement; G1WBTObs flips the flags via its task yaml.
- Parameters:
level (float)
scale_joint_angle (float)
scale_joint_vel (float)
scale_gyro (float)
scale_gravity (float)
scale_linvel (float)
enable_zero_linvel (bool)
enable_zero_anchor_pos (bool)
enable_anchor_ori_noise (bool)
scale_anchor_ori (float)
obs_history_length (int)
Methods
__init__([level, scale_joint_angle, ...])
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Attributes
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enable_zero_linvel:
bool = False
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enable_zero_anchor_pos:
bool = False
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enable_anchor_ori_noise:
bool = False
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scale_anchor_ori:
float = 0.05
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obs_history_length:
int = 1
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__init__(level=0.0, scale_joint_angle=0.02, scale_joint_vel=0.3, scale_gyro=0.1, scale_gravity=0.05, scale_linvel=0.1, enable_zero_linvel=False, enable_zero_anchor_pos=False, enable_anchor_ori_noise=False, scale_anchor_ori=0.05, obs_history_length=1)
- Parameters:
level (float)
scale_joint_angle (float)
scale_joint_vel (float)
scale_gyro (float)
scale_gravity (float)
scale_linvel (float)
enable_zero_linvel (bool)
enable_zero_anchor_pos (bool)
enable_anchor_ori_noise (bool)
scale_anchor_ori (float)
obs_history_length (int)
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level:
float = 0.0
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scale_gravity:
float = 0.05
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scale_gyro:
float = 0.1
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scale_joint_angle:
float = 0.02
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scale_joint_vel:
float = 0.3
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scale_linvel:
float = 0.1