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unilab.envs.mdp.commands.pose_command.UniformPoseCommandCfg

class unilab.envs.mdp.commands.pose_command.UniformPoseCommandCfg

Bases: CommandTermCfg

Sample a fixed-width pose vector independently per dimension.

Parameters:

• resampling_time_range (tuple[float, float])

• debug_vis (bool)

• ranges (tuple[tuple[float, float], ...] | list[list[float]])

• zero_command_prob (float)

Methods

__init__(*, resampling_time_range[, ...])
build(env)	Build the command term from this config.

Attributes

debug_vis	Whether to enable debug visualization for this command term.
zero_command_prob
ranges
resampling_time_range	Time range in seconds for command resampling.

ranges: tuple[tuple[float, float], ...] | list[list[float]]

zero_command_prob: float = 0.0

build(env)

Build the command term from this config.

Parameters:

env (ManagerBasedRlEnv)

Return type:

UniformPoseCommand

__init__(*, resampling_time_range, debug_vis=False, ranges, zero_command_prob=0.0)

Parameters:

• resampling_time_range (tuple[float, float])

• debug_vis (bool)

• ranges (tuple[tuple[float, float], ...] | list[list[float]])

• zero_command_prob (float)

debug_vis: bool = False

Whether to enable debug visualization for this command term. When True, the command term’s _debug_vis_impl method is called each frame to render visual aids (e.g., velocity arrows, target markers).

resampling_time_range: tuple[float, float]

Time range in seconds for command resampling. When the timer expires, a new command is sampled and the timer is reset to a value uniformly drawn from [min, max]. Set both values equal for fixed-interval resampling.