sensor_noise_base
BaseSensorNoise
Bases: Registerable
Base SensorNoise class. Sensor noise-specific add_noise method is implemented in subclasses
Parameters:
Name | Type | Description | Default |
---|---|---|---|
enabled |
bool
|
Whether this sensor should be enabled by default |
True
|
Source code in omnigibson/sensors/sensor_noise_base.py
enabled
property
writable
Returns:
Type | Description |
---|---|
bool
|
Whether this noise model is enabled or not |
__call__(obs)
If this noise is enabled, corrupts observation @obs by adding sensor noise to sensor reading. This is an identical call to self.corrupt(...)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
obs |
tensor
|
observation numpy array of values of arbitrary dimension normalized to range [0.0, 1.0] |
required |
Returns:
Type | Description |
---|---|
tensor
|
Corrupted observation numpy array if self.enabled is True, otherwise this is a pass-through |
Source code in omnigibson/sensors/sensor_noise_base.py
corrupt(obs)
If this noise is enabled, corrupts observation @obs by adding sensor noise to sensor reading.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
obs |
tensor
|
observation numpy array of values of arbitrary dimension normalized to range [0.0, 1.0] |
required |
Returns:
Type | Description |
---|---|
tensor
|
Corrupted observation numpy array if self.enabled is True, otherwise this is a pass-through |