Joint pos observation not biased by encoder domain randomization in default environments

[jgueldenstein]

Hey everyone,
I was wondering if there is a specific reasoning why the joint_rel observation is not biased tracking env.

mjlab/src/mjlab/tasks/velocity/velocity_env_cfg.py

Lines 91 to 94 in efdcadc

	"joint_pos": ObservationTermCfg(
	func=mdp.joint_pos_rel,
	noise=Unoise(n_min=-0.01, n_max=0.01),
	),

in the default velocity

The domain randomization on the encoder bias:

mjlab/src/mjlab/tasks/velocity/velocity_env_cfg.py

Lines 248 to 255 in efdcadc

	"encoder_bias": EventTermCfg(
	mode="startup",
	func=dr.encoder_bias,
	params={
	"asset_cfg": SceneEntityCfg("robot"),
	"bias_range": (-0.015, 0.015),
	},
	),

is therefore only applied to the action.

Is this intended?

[kevinzakka]

It's a bug, we had a fix in this PR but I never merged it.

[kevinzakka]

Fixed at head.