commands

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.

UniformPoseCommandGlobal

UniformPoseCommandGlobal(cfg: UniformPoseCommandGlobalCfg, env: ManagerBasedRlEnv)

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
cfg	UniformPoseCommandGlobalCfg	The configuration parameters for the command generator.	必需
env	ManagerBasedRlEnv	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).

cfg instance-attribute

cfg: UniformPoseCommandGlobalCfg

Configuration for the command generator.

command property

command: Tensor

The desired 3D-pose in base frame. Shape is (num_envs, 4).

UniformPoseCommandGlobalCfg dataclass

UniformPoseCommandGlobalCfg(*, class_type: type = UniformPoseCommandGlobal, entity_name: str, simple_heading: bool, ranges: Ranges, viz: VizCfg = VizCfg())

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
entity_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.

entity_name instance-attribute

entity_name: str

Name of the asset in the environment for which the commands are generated.

simple_heading instance-attribute

simple_heading: bool

Whether to use simple heading or not.

If True, the heading is in the direction of the target position.

ranges instance-attribute

ranges: Ranges

Distribution ranges for the position commands.

Ranges dataclass

Ranges(pos_x: tuple[float, float], pos_y: tuple[float, float], pos_z: tuple[float, float], heading: tuple[float, float])

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).

pos_x instance-attribute

pos_x: tuple[float, float]

Range for the x position (in m).

pos_y instance-attribute

pos_y: tuple[float, float]

Range for the y position (in m).

pos_z instance-attribute

pos_z: tuple[float, float]

Range for the z position (in m).

heading instance-attribute

heading: tuple[float, float]

Heading range for the position commands (in rad).

Used only if :attr:simple_heading is False.