commands

类：

名称	描述
HeadingVelocityCommandRange	4-D velocity command range: vx, vy, vz, wz.
HeadingVelocityCommandManager	Velocity command manager with heading-based yaw rate control and z velocity.

HeadingVelocityCommandRange

Bases: TypedDict

4-D velocity command range: vx, vy, vz, wz.

HeadingVelocityCommandManager

HeadingVelocityCommandManager(env: GenesisEnv, range: HeadingVelocityCommandRange, resample_time_sec: float = 5.0, standing_probability: float = 0.0, heading_command: bool = False, heading_control_stiffness: float = 1.0, rel_heading_envs: float = 1.0, heading_range: tuple[float, float] = (-math.pi, math.pi), debug_visualizer: bool = False, debug_visualizer_cfg: VelocityDebugVisualizerConfig = DEFAULT_VISUALIZER_CONFIG)

Bases: VelocityCommandManager

Velocity command manager with heading-based yaw rate control and z velocity.

Uses its own HeadingVelocityCommandRange config with 4 velocity dimensions. The parent's _command buffer stores 4-D [vx, vy, vz, wz]. The public command property returns the same 4-D tensor.

When heading_command=True, the angular velocity (wz) is overridden for heading-enabled environments by a proportional controller on the heading error::

wz = clip(stiffness * wrap_to_pi(heading_target - heading_w), ang_vel_z_range)

参数：

名称	类型	描述	默认
env	GenesisEnv	The environment to control.	必需
range	HeadingVelocityCommandRange	The ranges of linear & angular velocities (4-D: vx, vy, vz, wz).	必需
resample_time_sec	float	The time interval between changing the command.	5.0
standing_probability	float	Probability of standing still.	0.0
heading_command	bool	Enable heading-based angular velocity control.	False
heading_control_stiffness	float	P-gain for heading error to yaw rate.	1.0
rel_heading_envs	float	Fraction of environments that use heading control.	1.0
heading_range	tuple[float, float]	Range for sampling heading targets (radians).	(-pi, pi)
debug_visualizer	bool	Enable debug arrow visualization.	False
debug_visualizer_cfg	VelocityDebugVisualizerConfig	Configuration for the debug visualizer.	DEFAULT_VISUALIZER_CONFIG

属性：

名称	类型	描述
command	Tensor	The desired velocity command in base frame. Shape is (num_envs, 4).

command property

command: Tensor

The desired velocity command in base frame. Shape is (num_envs, 4).

Columns: [vx, vy, vz, wz].