commands

Classes:

Name	Description
PositionDebugVisualizerConfig	Defines the configuration for the debug visualizer.
PositionCommandManager	Generates a position + heading 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.
z_offset	float	The vertical offset of the debug arrows above the robot / target.
arrow_radius	float	The radius of the arrow shaft.
arrow_scale	float	Scale factor for the position-error arrow length.
heading_arrow_len	float	Length of the heading direction arrow.
commanded_color	tuple[float, float, float, float]	The color of the commanded position arrow.
heading_color	tuple[float, float, float, float]	The color of the commanded heading arrow.

envs_idx instance-attribute

envs_idx: list[int]

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

z_offset instance-attribute

z_offset: float

The vertical offset of the debug arrows above the robot / target.

arrow_radius instance-attribute

arrow_radius: float

The radius of the arrow shaft.

arrow_scale instance-attribute

arrow_scale: float

Scale factor for the position-error arrow length.

heading_arrow_len instance-attribute

heading_arrow_len: float

Length of the heading direction arrow.

commanded_color instance-attribute

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

The color of the commanded position arrow.

heading_color instance-attribute

heading_color: tuple[float, float, float, float]

The color of the commanded heading 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 + heading command from uniform distribution. The command comprises a 3-D position target and a heading target.

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 - Heading: target yaw angle in radians

The .command property returns a body-frame tensor of shape (num_envs, 4): - [:, 0:3] position error rotated into yaw-only body frame - [:, 3] heading error (target heading - current heading), wrapped to [-pi, pi]

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 position & heading	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):
        self.position_command = PositionCommandManager(
            self,
            range={
                "pos_x": (-2.0, 2.0),
                "pos_y": (-2.0, 2.0),
                "pos_z": (0.5, 1.5),
                "heading": (-3.14, 3.14),
            },
        )

Methods:

Name	Description
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 in yaw-only body frame. Shape is (num_envs, 4).

command property

command: Tensor

The desired command in yaw-only body frame. Shape is (num_envs, 4).

Columns 0-3: [pos_x, pos_y, pos_z, heading_error] all in body frame.

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, heading_axis: int = 3)

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
heading_axis	int	Map this gamepad axis index to the heading.	3