commands

Classes:

Name	Description
PositionDebugVisualizerConfig	Defines the configuration for the debug visualizer.
PositionCommandManager	Generates a position command from uniform distribution.

PositionDebugVisualizerConfig

Bases: TypedDict

Defines the configuration for the debug visualizer.

Attributes:

Name	Type	Description
envs_idx	list[int]	The indices of the environments to visualize. If None, all environments will be visualized.
sphere_offset	float	The vertical offset of the debug arrows from the top of the robot
sphere_radius	float	The radius of the shaft of the debug arrows
commanded_color	tuple[float, float, float, float]	The color of the commanded velocity arrow

envs_idx instance-attribute

envs_idx: list[int]

The indices of the environments to visualize. If None, all environments will be visualized.

sphere_offset instance-attribute

sphere_offset: float

The vertical offset of the debug arrows from the top of the robot

sphere_radius instance-attribute

sphere_radius: float

The radius of the shaft of the debug arrows

commanded_color instance-attribute

commanded_color: tuple[float, float, float, float]

The color of the commanded velocity arrow

PositionCommandManager

PositionCommandManager(env: GenesisEnv, range: PositionCommandRange, resample_time_sec: float = 5.0, debug_visualizer: bool = False, debug_visualizer_cfg: PositionDebugVisualizerConfig = DEFAULT_VISUALIZER_CONFIG)

Bases: CommandManager

Generates a position command from uniform distribution. The command comprises of a linear velocity in x and y direction and an angular velocity around the z-axis.

IMPORTANT: The position commands are interpreted as world-relative coordinates: - X-axis: x coordinate of the target position - Y-axis: y coordinate of the target position - Z-axis: z coordinate of the target position

Debug visualization:

If `debug_visualizer` is set to True, a target sphere is rendered above
the commanded position.

Visual meaning:

- GREEN: Commanded position for the robot in the world frame

Parameters:

Name	Type	Description	Default
env	GenesisEnv	The environment to control	required
range	PositionCommandRange	The ranges of linear & angular velocities	required
resample_time_sec	float	The time interval between changing the command	5.0
debug_visualizer	bool	Enable the debug arrow visualization	False
debug_visualizer_cfg	PositionDebugVisualizerConfig	The configuration for the debug visualizer	DEFAULT_VISUALIZER_CONFIG

Example::

class MyEnv(GenesisEnv):
    def config(self):
        # Create a velocity command manager
        self.command_manager = PositionCommandManager(
            self,
            visualize=True,
            range = {
                "lin_vel_x_range": (-1.0, 1.0),
                "lin_vel_y_range": (-1.0, 1.0),
                "ang_vel_z_range": (-0.5, 0.5),
            }
        )

        RewardManager(
            self,
            logging_enabled=True,
            cfg={
                "tracking_lin_vel": {
                    "weight": 1.0,
                    "fn": rewards.command_tracking_lin_vel,
                    "params": {
                        "vel_cmd_manager": self.velocity_command,
                    },
                },
                "tracking_ang_vel": {
                    "weight": 1.0,
                    "fn": rewards.command_tracking_ang_vel,
                    "params": {
                        "vel_cmd_manager": self.velocity_command,
                    },
                },
                # ... other rewards ...
            },
        )

        # Observations
        ObservationManager(
            self,
            cfg={
                "velocity_cmd": {"fn": self.velocity_command.observation},
                # ... other observations ...
            },
        )

Methods:

Name	Description
resample_command	Overwrites commands for environments that should be standing still.
build	Build the position command manager
step	Render the command arrows
use_gamepad	Use a connected gamepad to control the command.

Attributes:

Name	Type	Description
command	Tensor	The desired command value. Shape is (num_envs, num_ranges).

command property

command: Tensor

The desired command value. Shape is (num_envs, num_ranges).

resample_command

resample_command(env_ids: list[int])

Overwrites commands for environments that should be standing still.

build

build()

Build the position command manager

step

step()

Render the command arrows

use_gamepad

use_gamepad(gamepad: Gamepad, pos_x_axis: int = 0, pos_y_axis: int = 1, pos_z_axis: int = 2)

Use a connected gamepad to control the command.

Parameters:

Name	Type	Description	Default
gamepad	Gamepad	The gamepad to use.	required
pos_x_axis	int	Map this gamepad axis index to the position in the x-direction.	0
pos_y_axis	int	Map this gamepad axis index to the position in the y-direction.	1
pos_z_axis	int	Map this gamepad axis index to the position in the z-direction.	2