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feat(g1): issue (#201 #125)add per-step sensor observation noise and undesired contact for motion tracking(sprint action)… - #253
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Summary
G1 locomotion 和 motion tracking 环境增加逐步传感器观测噪声（_obs_noise），对 gyro、gravity、joint angle、joint velocity、linear velocity 通道注入 uniform noise，默认 noise level 从 0.0 改为 1.0，并调优各通道 scale
Motion tracking 新增 undesired_contacts 惩罚项（-0.1），惩罚非末端执行器 body 低于 z 阈值的地面接触，抑制不自然的触地行为
更新 motion tracking 相关的动作文件（均必要）
Linked Work
Issue:
Milestone:
Validation
make check
uv run pytest -m "not slow"
Additional task-specific validation listed below
Commands actually run:
example:
locomotion with noise (default level=1.0)
uv run python scripts/train_appo.py task=g1_joystick/mujoco
locomotion with noise disabled (verify no-op path)
uv run python scripts/train_appo.py task=g1_joystick/mujoco
env_cfg.noise_config.level=0.0
motion tracking with undesired_contacts penalty & noise
uv run python scripts/train_appo.py task=g1_motion_tracking/mujoco
motion tracking — noise only, disable contact penalty
uv run python scripts/train_appo.py task=g1_motion_tracking/mujoco
reward.scales.undesired_contacts=0.0
Impact
Backend impact: both
Platform impact: both
Training effect expected: yes
Validation
make check
uv run pytest -m "not slow"
Additional task-specific validation listed below
Commands actually run:
观测噪声单元测试
uv run pytest tests/envs/test_g1_obs_noise.py -v
locomotion with noise (default level=1.0)
uv run python scripts/train_appo.py task=g1_joystick/mujoco
locomotion with noise disabled (verify no-op path)
uv run python scripts/train_appo.py task=g1_joystick/mujoco
env_cfg.noise_config.level=0.0
motion tracking with undesired_contacts penalty & noise
uv run python scripts/train_appo.py task=g1_motion_tracking/mujoco
motion tracking — noise only, disable contact penalty
uv run python scripts/train_appo.py task=g1_motion_tracking/mujoco
reward.scales.undesired_contacts=0.0