类：
| 名称 | 描述 |
|---|---|
UniformPoseCommandGlobal |
Command generator that generates pose commands containing a 3-D position and heading. |
UniformPoseCommandGlobalCfg |
Configuration for the uniform 3D-pose command generator. |
UniformVelocityGlobalCommand |
Command generator that generates a velocity command with uniform distribution. |
UniformVelocityGlobalCommandCfg |
Configuration for the uniform velocity command generator. |
UniformBimodalVelocityCommand |
Bimodal velocity command generator with a discrete mode indicator (4+1). |
UniformBimodalVelocityCommandCfg |
Configuration for the bimodal velocity command generator (flight vs ground). |
UniformPoseCommandGlobal(cfg: UniformPoseCommandGlobalCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Command generator that generates pose commands containing a 3-D position and heading.
The command generator samples uniform 3D positions around the environment origin. The
heading command is either set to point towards the target or is sampled uniformly.
This can be configured through the :attr:UniformPoseCommandGlobalCfg.simple_heading
parameter in the configuration.
Initialize the command generator class.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
UniformPoseCommandGlobalCfg
|
The configuration parameters for the command generator. |
必需 |
|
ManagerBasedEnv
|
The environment object. |
必需 |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
cfg |
UniformPoseCommandGlobalCfg
|
Configuration for the command generator. |
command |
Tensor
|
The desired 3D-pose in base frame. Shape is (num_envs, 4). |
instance-attribute
cfg: UniformPoseCommandGlobalCfg
Configuration for the command generator.
property
command: Tensor
The desired 3D-pose in base frame. Shape is (num_envs, 4).
Bases: CommandTermCfg
Configuration for the uniform 3D-pose command generator.
类：
| 名称 | 描述 |
|---|---|
Ranges |
Uniform distribution ranges for the position commands. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
simple_heading |
bool
|
Whether to use simple heading or not. |
ranges |
Ranges
|
Distribution ranges for the position commands. |
goal_pose_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
simple_heading: bool = MISSING
Whether to use simple heading or not.
If True, the heading is in the direction of the target position.
class-attribute
instance-attribute
ranges: Ranges = MISSING
Distribution ranges for the position commands.
class-attribute
instance-attribute
goal_pose_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/pose_goal')
The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
Uniform distribution ranges for the position commands.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
pos_x |
tuple[float, float]
|
Range for the x position (in m). |
pos_y |
tuple[float, float]
|
Range for the y position (in m). |
pos_z |
tuple[float, float]
|
Range for the z position (in m). |
heading |
tuple[float, float]
|
Heading range for the position commands (in rad). |
class-attribute
instance-attribute
pos_x: tuple[float, float] = MISSING
Range for the x position (in m).
class-attribute
instance-attribute
pos_y: tuple[float, float] = MISSING
Range for the y position (in m).
class-attribute
instance-attribute
pos_z: tuple[float, float] = MISSING
Range for the z position (in m).
class-attribute
instance-attribute
heading: tuple[float, float] = MISSING
Heading range for the position commands (in rad).
Used only if :attr:simple_heading is False.
UniformVelocityGlobalCommand(cfg: UniformVelocityGlobalCommandCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Command generator that generates a velocity command with uniform distribution.
The command comprises linear velocity in x, y, z directions and an angular velocity around the z-axis. It is given in the robot's base frame.
If the :attr:cfg.heading_command flag is set to True, the angular velocity is computed from the heading
error similar to doing a proportional control on the heading error. The target heading is sampled uniformly
from the provided range. Otherwise, the angular velocity is sampled uniformly from the provided range.
Mathematically, the angular velocity is computed as follows from the heading command:
.. math::
\omega_z = \frac{1}{2} \text{wrap_to_pi}(\theta_{\text{target}} - \theta_{\text{current}})
Initialize the command generator.
参数：
| 名称 | 类型 | 描述 | 默认 |
|---|---|---|---|
|
UniformVelocityGlobalCommandCfg
|
The configuration of the command generator. |
必需 |
|
ManagerBasedEnv
|
The environment. |
必需 |
引发：
| 类型 | 描述 |
|---|---|
ValueError
|
If the heading command is active but the heading range is not provided. |
方法：
| 名称 | 描述 |
|---|---|
__str__ |
Return a string representation of the command generator. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
cfg |
UniformVelocityGlobalCommandCfg
|
The configuration of the command generator. |
command |
Tensor
|
The desired base velocity command in the base frame. Shape is (num_envs, 4). |
instance-attribute
cfg: UniformVelocityGlobalCommandCfg
The configuration of the command generator.
property
command: Tensor
The desired base velocity command in the base frame. Shape is (num_envs, 4).
__str__() -> str
Return a string representation of the command generator.
Bases: CommandTermCfg
Configuration for the uniform velocity command generator.
类：
| 名称 | 描述 |
|---|---|
Ranges |
Uniform distribution ranges for the velocity commands. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
asset_name |
str
|
Name of the asset in the environment for which the commands are generated. |
heading_command |
bool
|
Whether to use heading command or angular velocity command. Defaults to False. |
heading_control_stiffness |
float
|
Scale factor to convert the heading error to angular velocity command. Defaults to 1.0. |
rel_standing_envs |
float
|
The sampled probability of environments that should be standing still. Defaults to 0.0. |
rel_heading_envs |
float
|
The sampled probability of environments where the robots follow the heading-based angular velocity command |
ranges |
Ranges
|
Distribution ranges for the velocity commands. |
goal_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
current_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset in the environment for which the commands are generated.
class-attribute
instance-attribute
heading_command: bool = False
Whether to use heading command or angular velocity command. Defaults to False.
If True, the angular velocity command is computed from the heading error, where the target heading is sampled uniformly from provided range. Otherwise, the angular velocity command is sampled uniformly from provided range.
class-attribute
instance-attribute
heading_control_stiffness: float = 1.0
Scale factor to convert the heading error to angular velocity command. Defaults to 1.0.
class-attribute
instance-attribute
rel_standing_envs: float = 0.0
The sampled probability of environments that should be standing still. Defaults to 0.0.
class-attribute
instance-attribute
rel_heading_envs: float = 1.0
The sampled probability of environments where the robots follow the heading-based angular velocity command (the others follow the sampled angular velocity command). Defaults to 1.0.
This parameter is only used if :attr:heading_command is True.
class-attribute
instance-attribute
ranges: Ranges = MISSING
Distribution ranges for the velocity commands.
class-attribute
instance-attribute
goal_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_goal')
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
class-attribute
instance-attribute
current_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_current')
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.
Uniform distribution ranges for the velocity commands.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
lin_vel_x |
tuple[float, float]
|
Range for the linear-x velocity command (in m/s). |
lin_vel_y |
tuple[float, float]
|
Range for the linear-y velocity command (in m/s). |
lin_vel_z |
tuple[float, float]
|
Range for the linear-z velocity command (in m/s). |
ang_vel_z |
tuple[float, float]
|
Range for the angular-z velocity command (in rad/s). |
heading |
tuple[float, float] | None
|
Range for the heading command (in rad). Defaults to None. |
class-attribute
instance-attribute
lin_vel_x: tuple[float, float] = MISSING
Range for the linear-x velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_y: tuple[float, float] = MISSING
Range for the linear-y velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_z: tuple[float, float] = MISSING
Range for the linear-z velocity command (in m/s).
class-attribute
instance-attribute
ang_vel_z: tuple[float, float] = MISSING
Range for the angular-z velocity command (in rad/s).
class-attribute
instance-attribute
heading: tuple[float, float] | None = None
Range for the heading command (in rad). Defaults to None.
This parameter is only used if :attr:~UniformVelocityGlobalCommandCfg.heading_command is True.
UniformBimodalVelocityCommand(cfg: UniformBimodalVelocityCommandCfg, env: ManagerBasedEnv)
Bases: CommandTerm
Bimodal velocity command generator with a discrete mode indicator (4+1).
This command samples base-frame velocities with two modes:
- Flight mode: uses ranges_flight
- Ground mode: uses ranges_ground
The output command augments the 4-D velocity with a 1-D discrete indicator: - 0.0 for flight mode - 1.0 for ground/terrestrial mode
Heading behavior matches UniformVelocityGlobalCommand with optional heading-target
proportional control. Ranges are applied per selected mode.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
command |
Tensor
|
Return 4-D velocity plus 1-D mode indicator. Shape: (num_envs, 5). |
property
command: Tensor
Return 4-D velocity plus 1-D mode indicator. Shape: (num_envs, 5).
Bases: CommandTermCfg
Configuration for the bimodal velocity command generator (flight vs ground).
类：
| 名称 | 描述 |
|---|---|
Ranges |
Uniform distribution ranges for velocity commands per mode. |
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
asset_name |
str
|
Name of the asset receiving commands. |
heading_command |
bool
|
Whether to convert heading error to angular velocity (per-mode ranges apply). |
heading_control_stiffness |
float
|
Scale factor for heading error to yaw rate conversion. |
rel_standing_envs |
float
|
Probability that an environment should be standing still (zero command). |
rel_heading_envs |
float
|
Probability that an environment uses heading-based angular velocity when enabled. |
rel_flight_envs |
float
|
Probability of sampling flight mode (vs ground). |
ranges_flight |
Ranges
|
Ranges for flight mode sampling. |
ranges_ground |
Ranges
|
Ranges for ground/terrestrial mode sampling. |
goal_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG. |
current_vel_visualizer_cfg |
VisualizationMarkersCfg
|
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG. |
class-attribute
instance-attribute
asset_name: str = MISSING
Name of the asset receiving commands.
class-attribute
instance-attribute
heading_command: bool = False
Whether to convert heading error to angular velocity (per-mode ranges apply).
class-attribute
instance-attribute
heading_control_stiffness: float = 1.0
Scale factor for heading error to yaw rate conversion.
class-attribute
instance-attribute
rel_standing_envs: float = 0.0
Probability that an environment should be standing still (zero command).
class-attribute
instance-attribute
rel_heading_envs: float = 1.0
Probability that an environment uses heading-based angular velocity when enabled.
class-attribute
instance-attribute
rel_flight_envs: float = 0.5
Probability of sampling flight mode (vs ground).
class-attribute
instance-attribute
ranges_flight: Ranges = MISSING
Ranges for flight mode sampling.
class-attribute
instance-attribute
ranges_ground: Ranges = MISSING
Ranges for ground/terrestrial mode sampling.
class-attribute
instance-attribute
goal_vel_visualizer_cfg: VisualizationMarkersCfg = VisualizationMarkersCfg(prim_path='/Visuals/Command/velocity_goal', markers={'flight': UsdFileCfg(usd_path=f'{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd', scale=(1.0, 0.1, 0.1), visual_material=PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0))), 'ground': UsdFileCfg(usd_path=f'{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd', scale=(1.0, 0.1, 0.1), visual_material=PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)))})
The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.
class-attribute
instance-attribute
current_vel_visualizer_cfg: VisualizationMarkersCfg = replace(prim_path='/Visuals/Command/velocity_current')
The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.
Uniform distribution ranges for velocity commands per mode.
属性：
| 名称 | 类型 | 描述 |
|---|---|---|
lin_vel_x |
tuple[float, float]
|
Range for the linear-x velocity command (in m/s). |
lin_vel_y |
tuple[float, float]
|
Range for the linear-y velocity command (in m/s). |
lin_vel_z |
tuple[float, float]
|
Range for the linear-z velocity command (in m/s). |
ang_vel_z |
tuple[float, float]
|
Range for the angular-z velocity command (in rad/s). |
heading |
tuple[float, float] | None
|
Range for the heading command (in rad). Defaults to None. |
class-attribute
instance-attribute
lin_vel_x: tuple[float, float] = MISSING
Range for the linear-x velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_y: tuple[float, float] = MISSING
Range for the linear-y velocity command (in m/s).
class-attribute
instance-attribute
lin_vel_z: tuple[float, float] = MISSING
Range for the linear-z velocity command (in m/s).
class-attribute
instance-attribute
ang_vel_z: tuple[float, float] = MISSING
Range for the angular-z velocity command (in rad/s).
class-attribute
instance-attribute
heading: tuple[float, float] | None = None
Range for the heading command (in rad). Defaults to None.
This parameter is only used if :attr:~UniformBimodalVelocityCommandCfg.heading_command is True.