Moves command generator into managers sub-package (#276)

# Description

This MR adds command manager terms so that it is possible to apply
multiple types of commands in the same environment. Before, you could
only use one. Now you can add multiple, for example, to generate a base
velocity command and an end effector pose command simultaneously.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

docs/source/api/index.rst

@@ -16,7 +16,6 @@ The following modules are available in the ``omni.isaac.orbit`` extension:
    app
    actuators
    assets
-   command_generators
    controllers
    devices
    envs

docs/source/api/orbit/omni.isaac.orbit.command_generators.rst

-orbit.command\_generators
-=========================
-
-.. automodule:: omni.isaac.orbit.command_generators
-
-  .. rubric:: Classes
-
-  .. autosummary::
-
-    CommandGeneratorBase
-    CommandGeneratorBaseCfg
-    NullCommandGenerator
-    NullCommandGeneratorCfg
-    UniformVelocityCommandGenerator
-    UniformVelocityCommandGeneratorCfg
-    NormalVelocityCommandGenerator
-    NormalVelocityCommandGeneratorCfg
-    TerrainBasedPositionCommandGenerator
-    TerrainBasedPositionCommandGeneratorCfg
-
-Command Generator Base
-----------------------
-
-.. autoclass:: CommandGeneratorBase
-    :members:
-
-.. autoclass:: CommandGeneratorBaseCfg
-    :members:
-    :exclude-members: __init__, class_type
-
-Null Command Generator
-----------------------
-
-.. autoclass:: NullCommandGenerator
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: NullCommandGeneratorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type, resampling_time_range
-
-Uniform SE(2) Velocity Command Generator
-----------------------------------------
-
-.. autoclass:: UniformVelocityCommandGenerator
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: UniformVelocityCommandGeneratorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type
-
-Normal SE(2) Velocity Command Generator
----------------------------------------
-
-.. autoclass:: NormalVelocityCommandGenerator
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: NormalVelocityCommandGeneratorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type
-
-Uniform SE(3) Pose Command Generator
-------------------------------------
-
-.. autoclass:: UniformPoseCommandGenerator
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: UniformPoseCommandGeneratorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type
-
-
-Terrain-based SE(2) Position Command Generator
-----------------------------------------------
-
-.. note::
-    This command generator is currently not tested. It may not work as expected.
-
-.. autoclass:: TerrainBasedPositionCommandGenerator
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: TerrainBasedPositionCommandGeneratorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type

docs/source/api/orbit/omni.isaac.orbit.envs.mdp.rst

@@ -25,6 +25,16 @@ Randomization
 .. automodule:: omni.isaac.orbit.envs.mdp.randomizations
     :members:
 
+Commands
+--------
+
+.. automodule:: omni.isaac.orbit.envs.mdp.commands
+
+.. automodule:: omni.isaac.orbit.envs.mdp.commands.commands_cfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
 Rewards
 -------
 

docs/source/api/orbit/omni.isaac.orbit.managers.rst

@@ -19,6 +19,9 @@
     ActionTermCfg
     RandomizationManager
     RandomizationTermCfg
+    CommandManager
+    CommandTerm
+    CommandTermCfg
     RewardManager
     RewardTermCfg
     TerminationManager
@@ -91,6 +94,21 @@ Randomization Manager
     :members:
     :exclude-members: __init__
 
+Command Manager
+---------------
+
+.. autoclass:: CommandManager
+    :members:
+
+.. autoclass:: CommandTerm
+    :members:
+    :exclude-members: __init__, class_type
+
+.. autoclass:: CommandTermCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+
 Reward Manager
 --------------
 

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.0"
+version = "0.10.1"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.10.1 (2023-12-06)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added command manager class with terms defined by :class:`omni.isaac.orbit.managers.CommandTerm`. This
+  allow for multiple types of command generators to be used in the same environment.
+
+
 0.10.0 (2023-12-04)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/__init__.py

-# Copyright (c) 2022-2023, The ORBIT Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Sub-package for different command generators implementations.
-
-The command generators are used to generate commands for the agent to execute. The command generators act
-as utility classes to make it convenient to switch between different command generation strategies within
-the same environment. For instance, in an environment consisting of a quadrupedal robot, the command to it
-could be a velocity command or position command. By keeping the command generation logic separate from the
-environment, it is easy to switch between different command generation strategies.
-
-The command generators are implemented as classes that inherit from the :class:`CommandGeneratorBase` class.
-Each command generator class should also have a corresponding configuration class that inherits from the
-:class:`CommandGeneratorBaseCfg` class.
-"""
-
-from .command_generator_base import CommandGeneratorBase
-from .command_generator_cfg import (
-    CommandGeneratorBaseCfg,
-    NormalVelocityCommandGeneratorCfg,
-    NullCommandGeneratorCfg,
-    TerrainBasedPositionCommandGeneratorCfg,
-    UniformPoseCommandGeneratorCfg,
-    UniformVelocityCommandGeneratorCfg,
-)
-from .null_command_generator import NullCommandGenerator
-from .pose_command_generator import UniformPoseCommandGenerator
-from .position_command_generator import TerrainBasedPositionCommandGenerator
-from .velocity_command_generator import NormalVelocityCommandGenerator, UniformVelocityCommandGenerator

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/__init__.py

@@ -16,6 +16,7 @@ are used to define the environment through their managers.
 """
 
 from .actions import *  # noqa: F401, F403
+from .commands import *  # noqa: F401, F403
 from .curriculums import *  # noqa: F401, F403
 from .observations import *  # noqa: F401, F403
 from .randomizations import *  # noqa: F401, F403

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/__init__.py

+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Various command terms that can be used in the environment."""
+
+from .commands_cfg import (
+    NormalVelocityCommandCfg,
+    NullCommandCfg,
+    TerrainBasedPositionCommandCfg,
+    UniformPoseCommandCfg,
+    UniformVelocityCommandCfg,
+)
+from .null_command import NullCommand
+from .pose_command import UniformPoseCommand
+from .position_command import TerrainBasedPositionCommand
+from .velocity_command import NormalVelocityCommand, UniformVelocityCommand

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_cfg.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/commands_cfg.py

@@ -8,34 +8,13 @@ from __future__ import annotations
 import math
 from dataclasses import MISSING
 
+from omni.isaac.orbit.managers import CommandTermCfg
 from omni.isaac.orbit.utils import configclass
 
-from .command_generator_base import CommandGeneratorBase
-from .null_command_generator import NullCommandGenerator
-from .pose_command_generator import UniformPoseCommandGenerator
-from .position_command_generator import TerrainBasedPositionCommandGenerator
-from .velocity_command_generator import NormalVelocityCommandGenerator, UniformVelocityCommandGenerator
-
-"""
-Base command generator.
-"""
-
-
-@configclass
-class CommandGeneratorBaseCfg:
-    """Configuration for the base command generator."""
-
-    class_type: type[CommandGeneratorBase] = MISSING
-    """The associated command generator class to use.
-
-    The class should inherit from :class:`omni.isaac.orbit.command_generators.command_generator_base.CommandGeneratorBase`.
-    """
-
-    resampling_time_range: tuple[float, float] = MISSING
-    """Time before commands are changed [s]."""
-    debug_vis: bool = False
-    """Whether to visualize debug information. Defaults to False."""
-
+from .null_command import NullCommand
+from .pose_command import UniformPoseCommand
+from .position_command import TerrainBasedPositionCommand
+from .velocity_command import NormalVelocityCommand, UniformVelocityCommand
 
 """
 Null-command generator.
@@ -43,10 +22,10 @@ Null-command generator.
 
 
 @configclass
-class NullCommandGeneratorCfg(CommandGeneratorBaseCfg):
+class NullCommandCfg(CommandTermCfg):
     """Configuration for the null command generator."""
 
-    class_type: type = NullCommandGenerator
+    class_type: type = NullCommand
 
     def __post_init__(self):
         """Post initialization."""
@@ -60,10 +39,10 @@ Locomotion-specific command generators.
 
 
 @configclass
-class UniformVelocityCommandGeneratorCfg(CommandGeneratorBaseCfg):
+class UniformVelocityCommandCfg(CommandTermCfg):
     """Configuration for the uniform velocity command generator."""
 
-    class_type: type = UniformVelocityCommandGenerator
+    class_type: type = UniformVelocityCommand
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
@@ -94,10 +73,10 @@ class UniformVelocityCommandGeneratorCfg(CommandGeneratorBaseCfg):
 
 
 @configclass
-class NormalVelocityCommandGeneratorCfg(UniformVelocityCommandGeneratorCfg):
+class NormalVelocityCommandCfg(UniformVelocityCommandCfg):
     """Configuration for the normal velocity command generator."""
 
-    class_type: type = NormalVelocityCommandGenerator
+    class_type: type = NormalVelocityCommand
     heading_command: bool = False  # --> we don't use heading command for normal velocity command.
 
     @configclass
@@ -125,10 +104,10 @@ class NormalVelocityCommandGeneratorCfg(UniformVelocityCommandGeneratorCfg):
 
 
 @configclass
-class UniformPoseCommandGeneratorCfg(CommandGeneratorBaseCfg):
+class UniformPoseCommandCfg(CommandTermCfg):
     """Configuration for uniform pose command generator."""
 
-    class_type: type = UniformPoseCommandGenerator
+    class_type: type = UniformPoseCommand
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
@@ -151,10 +130,10 @@ class UniformPoseCommandGeneratorCfg(CommandGeneratorBaseCfg):
 
 
 @configclass
-class TerrainBasedPositionCommandGeneratorCfg(CommandGeneratorBaseCfg):
+class TerrainBasedPositionCommandCfg(CommandTermCfg):
     """Configuration for the terrain-based position command generator."""
 
-    class_type: type = TerrainBasedPositionCommandGenerator
+    class_type: type = TerrainBasedPositionCommand
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/null_command_generator.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/null_command.py

@@ -9,24 +9,24 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING, Sequence
 
-from omni.isaac.orbit.command_generators.command_generator_base import CommandGeneratorBase
+from omni.isaac.orbit.managers import CommandTerm
 
 if TYPE_CHECKING:
-    from .command_generator_cfg import NullCommandGeneratorCfg
+    from .commands_cfg import NullCommandCfg
 
 
-class NullCommandGenerator(CommandGeneratorBase):
+class NullCommand(CommandTerm):
     """Command generator that does nothing.
 
     This command generator does not generate any commands. It is used for environments that do not
     require any commands.
     """
 
-    cfg: NullCommandGeneratorCfg
+    cfg: NullCommandCfg
     """Configuration for the command generator."""
 
     def __str__(self) -> str:
-        msg = "NullCommandGenerator:\n"
+        msg = "NullCommand:\n"
         msg += "\tCommand dimension: N/A\n"
         msg += f"\tResampling time range: {self.cfg.resampling_time_range}"
         return msg
@@ -42,7 +42,7 @@ class NullCommandGenerator(CommandGeneratorBase):
         Raises:
             RuntimeError: No command is generated. Always raises this error.
         """
-        raise RuntimeError("NullCommandGenerator does not generate any commands.")
+        raise RuntimeError("NullCommandTerm does not generate any commands.")
 
     """
     Operations.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/pose_command_generator.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_command.py

@@ -11,19 +11,18 @@ import torch
 from typing import TYPE_CHECKING, Sequence
 
 from omni.isaac.orbit.assets import Articulation
+from omni.isaac.orbit.managers import CommandTerm
 from omni.isaac.orbit.markers import VisualizationMarkers
 from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG
 from omni.isaac.orbit.utils.math import combine_frame_transforms, compute_pose_error, quat_from_euler_xyz
 
-from .command_generator_base import CommandGeneratorBase
-
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import BaseEnv
 
-    from .command_generator_cfg import UniformPoseCommandGeneratorCfg
+    from .commands_cfg import UniformPoseCommandCfg
 
 
-class UniformPoseCommandGenerator(CommandGeneratorBase):
+class UniformPoseCommand(CommandTerm):
     """Command generator for generating pose commands uniformly.
 
     The command generator generates poses by sampling positions uniformly within specified
@@ -42,10 +41,10 @@ class UniformPoseCommandGenerator(CommandGeneratorBase):
 
     """
 
-    cfg: UniformPoseCommandGeneratorCfg
+    cfg: UniformPoseCommandCfg
     """Configuration for the command generator."""
 
-    def __init__(self, cfg: UniformPoseCommandGeneratorCfg, env: BaseEnv):
+    def __init__(self, cfg: UniformPoseCommandCfg, env: BaseEnv):
         """Initialize the command generator class.
 
         Args:
@@ -69,7 +68,7 @@ class UniformPoseCommandGenerator(CommandGeneratorBase):
         self.metrics["orientation_error"] = torch.zeros(self.num_envs, device=self.device)
 
     def __str__(self) -> str:
-        msg = "PoseCommandGenerator:\n"
+        msg = "UniformPoseCommand:\n"
         msg += f"\tCommand dimension: {tuple(self.command.shape[1:])}\n"
         msg += f"\tResampling time range: {self.cfg.resampling_time_range}\n"
         return msg

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/position_command.py

@@ -11,30 +11,29 @@ import torch
 from typing import TYPE_CHECKING, Sequence
 
 from omni.isaac.orbit.assets import Articulation
+from omni.isaac.orbit.managers import CommandTerm
 from omni.isaac.orbit.markers import VisualizationMarkers
 from omni.isaac.orbit.markers.config import CUBOID_MARKER_CFG
 from omni.isaac.orbit.terrains import TerrainImporter
 from omni.isaac.orbit.utils.math import quat_rotate_inverse, wrap_to_pi, yaw_quat
 
-from .command_generator_base import CommandGeneratorBase
-
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import BaseEnv
 
-    from .command_generator_cfg import TerrainBasedPositionCommandGeneratorCfg
+    from .commands_cfg import TerrainBasedPositionCommandCfg
 
 
-class TerrainBasedPositionCommandGenerator(CommandGeneratorBase):
+class TerrainBasedPositionCommand(CommandTerm):
     """Command generator that generates position commands based on the terrain.
 
     The position commands are sampled from the terrain mesh and the heading commands are either set
     to point towards the target or are sampled uniformly.
     """
 
-    cfg: TerrainBasedPositionCommandGeneratorCfg
+    cfg: TerrainBasedPositionCommandCfg
     """Configuration for the command generator."""
 
-    def __init__(self, cfg: TerrainBasedPositionCommandGeneratorCfg, env: BaseEnv):
+    def __init__(self, cfg: TerrainBasedPositionCommandCfg, env: BaseEnv):
         """Initialize the command generator class.
 
         Args:
@@ -61,7 +60,7 @@ class TerrainBasedPositionCommandGenerator(CommandGeneratorBase):
         self.metrics["error_heading"] = torch.zeros(self.num_envs, device=self.device)
 
     def __str__(self) -> str:
-        msg = "TerrainBasedPositionCommandGenerator:\n"
+        msg = "TerrainBasedPositionCommand:\n"
         msg += f"\tCommand dimension: {tuple(self.command.shape[1:])}\n"
         msg += f"\tResampling time range: {self.cfg.resampling_time_range}\n"
         msg += f"\tStanding probability: {self.cfg.rel_standing_envs}"

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/velocity_command.py

@@ -12,18 +12,17 @@ from typing import TYPE_CHECKING, Sequence
 
 import omni.isaac.orbit.utils.math as math_utils
 from omni.isaac.orbit.assets import Articulation
+from omni.isaac.orbit.managers import CommandTerm
 from omni.isaac.orbit.markers import VisualizationMarkers
 from omni.isaac.orbit.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 
-from .command_generator_base import CommandGeneratorBase
-
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import BaseEnv
 
-    from .command_generator_cfg import NormalVelocityCommandGeneratorCfg, UniformVelocityCommandGeneratorCfg
+    from .commands_cfg import NormalVelocityCommandCfg, UniformVelocityCommandCfg
 
 
-class UniformVelocityCommandGenerator(CommandGeneratorBase):
+class UniformVelocityCommand(CommandTerm):
     r"""Command generator that generates a velocity command in SE(2) from uniform distribution.
 
     The command comprises of a linear velocity in x and y direction and an angular velocity around
@@ -41,10 +40,10 @@ class UniformVelocityCommandGenerator(CommandGeneratorBase):
 
     """
 
-    cfg: UniformVelocityCommandGeneratorCfg
+    cfg: UniformVelocityCommandCfg
     """The configuration of the command generator."""
 
-    def __init__(self, cfg: UniformVelocityCommandGeneratorCfg, env: BaseEnv):
+    def __init__(self, cfg: UniformVelocityCommandCfg, env: BaseEnv):
         """Initialize the command generator.
 
         Args:
@@ -70,7 +69,7 @@ class UniformVelocityCommandGenerator(CommandGeneratorBase):
 
     def __str__(self) -> str:
         """Return a string representation of the command generator."""
-        msg = "UniformVelocityCommandGenerator:\n"
+        msg = "UniformVelocityCommand:\n"
         msg += f"\tCommand dimension: {tuple(self.command.shape[1:])}\n"
         msg += f"\tResampling time range: {self.cfg.resampling_time_range}\n"
         msg += f"\tHeading command: {self.cfg.heading_command}\n"
@@ -199,7 +198,7 @@ class UniformVelocityCommandGenerator(CommandGeneratorBase):
         return arrow_scale, arrow_quat
 
 
-class NormalVelocityCommandGenerator(UniformVelocityCommandGenerator):
+class NormalVelocityCommand(UniformVelocityCommand):
     """Command generator that generates a velocity command in SE(2) from a normal distribution.
 
     The command comprises of a linear velocity in x and y direction and an angular velocity around
@@ -209,10 +208,10 @@ class NormalVelocityCommandGenerator(UniformVelocityCommandGenerator):
     the configuration. With equal probability, the sign of the individual components is flipped.
     """
 
-    cfg: NormalVelocityCommandGeneratorCfg
+    cfg: NormalVelocityCommandCfg
     """The command generator configuration."""
 
-    def __init__(self, cfg: NormalVelocityCommandGeneratorCfg, env: object):
+    def __init__(self, cfg: NormalVelocityCommandCfg, env: object):
         """Initializes the command generator.
 
         Args:
@@ -227,7 +226,7 @@ class NormalVelocityCommandGenerator(UniformVelocityCommandGenerator):
 
     def __str__(self) -> str:
         """Return a string representation of the command generator."""
-        msg = "NormalVelocityCommandGenerator:\n"
+        msg = "NormalVelocityCommand:\n"
         msg += f"\tCommand dimension: {tuple(self.command.shape[1:])}\n"
         msg += f"\tResampling time range: {self.cfg.resampling_time_range}\n"
         msg += f"\tStanding probability: {self.cfg.rel_standing_envs}"

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/curriculums.py

@@ -11,48 +11,12 @@ the curriculum introduced by the function.
 
 from __future__ import annotations
 
-import torch
 from typing import TYPE_CHECKING, Sequence
 
-from omni.isaac.orbit.assets import RigidObject
-from omni.isaac.orbit.managers import SceneEntityCfg
-from omni.isaac.orbit.terrains import TerrainImporter
-
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import RLTaskEnv
 
 
-def terrain_levels_vel(
-    env: RLTaskEnv, env_ids: Sequence[int], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
-) -> torch.Tensor:
-    """Curriculum based on the distance the robot walked when commanded to move at a desired velocity.
-
-    This term is used to increase the difficulty of the terrain when the robot walks far enough and decrease the
-    difficulty when the robot walks less than half of the distance required by the commanded velocity.
-
-    .. note::
-        It is only possible to use this term with the terrain type ``generator``. For further information
-        on different terrain types, check the :class:`omni.isaac.orbit.terrains.TerrainImporter` class.
-
-    Returns:
-        The mean terrain level for the given environment ids.
-    """
-    # extract the used quantities (to enable type-hinting)
-    asset: RigidObject = env.scene[asset_cfg.name]
-    terrain: TerrainImporter = env.scene.terrain
-    # compute the distance the robot walked
-    distance = torch.norm(asset.data.root_pos_w[env_ids, :2] - env.scene.env_origins[env_ids, :2], dim=1)
-    # robots that walked far enough progress to harder terrains
-    move_up = distance > terrain.cfg.terrain_generator.size[0] / 2
-    # robots that walked less than half of their required distance go to simpler terrains
-    move_down = distance < torch.norm(env.command_manager.command[env_ids, :2], dim=1) * env.max_episode_length_s * 0.5
-    move_down *= ~move_up
-    # update terrain levels
-    terrain.update_env_origins(env_ids, move_up, move_down)
-    # return the mean terrain level
-    return torch.mean(terrain.terrain_levels.float())
-
-
 def modify_reward_weight(env: RLTaskEnv, env_ids: Sequence[int], term_name: str, weight: float, num_steps: int):
     """Curriculum that modifies a reward weight a given number of steps.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/observations.py

@@ -123,6 +123,6 @@ Commands.
 """
 
 
-def generated_commands(env: RLTaskEnv) -> torch.Tensor:
-    """The generated command from the command generator."""
-    return env.command_manager.command
+def generated_commands(env: RLTaskEnv, command_name: str) -> torch.Tensor:
+    """The generated command from command term in the command manager with the given name."""
+    return env.command_manager.get_command(command_name)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/rewards.py

@@ -215,24 +215,25 @@ Velocity-tracking rewards.
 
 
 def track_lin_vel_xy_exp(
-    env: RLTaskEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
     """Reward tracking of linear velocity commands (xy axes) using exponential kernel."""
     # extract the used quantities (to enable type-hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
     # compute the error
     lin_vel_error = torch.sum(
-        torch.square(env.command_manager.command[:, :2] - asset.data.root_lin_vel_b[:, :2]), dim=1
+        torch.square(env.command_manager.get_command(command_name)[:, :2] - asset.data.root_lin_vel_b[:, :2]),
+        dim=1,
     )
     return torch.exp(-lin_vel_error / std**2)
 
 
 def track_ang_vel_z_exp(
-    env: RLTaskEnv, std: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+    env: RLTaskEnv, std: float, command_name: str, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
 ) -> torch.Tensor:
     """Reward tracking of angular velocity commands (yaw) using exponential kernel."""
     # extract the used quantities (to enable type-hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
     # compute the error
-    ang_vel_error = torch.square(env.command_manager.command[:, 2] - asset.data.root_ang_vel_b[:, 2])
+    ang_vel_error = torch.square(env.command_manager.get_command(command_name)[:, 2] - asset.data.root_ang_vel_b[:, 2])
     return torch.exp(-ang_vel_error / std**2)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env.py

@@ -13,8 +13,7 @@ from typing import Any, ClassVar, Dict, Sequence, Tuple
 
 from omni.isaac.version import get_version
 
-from omni.isaac.orbit.command_generators import CommandGeneratorBase
-from omni.isaac.orbit.managers import CurriculumManager, RewardManager, TerminationManager
+from omni.isaac.orbit.managers import CommandManager, CurriculumManager, RewardManager, TerminationManager
 
 from .base_env import BaseEnv, VecEnvObs
 from .rl_task_env_cfg import RLTaskEnvCfg
@@ -121,7 +120,7 @@ class RLTaskEnv(BaseEnv, gym.Env):
     def load_managers(self):
         # note: this order is important since observation manager needs to know the command and action managers
         # -- command manager
-        self.command_manager: CommandGeneratorBase = self.cfg.commands.class_type(self.cfg.commands, self)
+        self.command_manager: CommandManager = CommandManager(self.cfg.commands, self)
         print("[INFO] Command Manager: ", self.command_manager)
         # call the parent class to load the managers for observations and actions.
         super().load_managers()

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_task_env_cfg.py

@@ -7,7 +7,6 @@ from __future__ import annotations
 
 from dataclasses import MISSING
 
-from omni.isaac.orbit.command_generators import CommandGeneratorBaseCfg
 from omni.isaac.orbit.utils import configclass
 
 from .base_env_cfg import BaseEnvCfg
@@ -32,5 +31,5 @@ class RLTaskEnvCfg(BaseEnvCfg):
     """Termination settings."""
     curriculum: object = MISSING
     """Curriculum settings."""
-    commands: CommandGeneratorBaseCfg = MISSING
-    """Command generator settings."""
+    commands: object = MISSING
+    """Command settings."""

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/__init__.py

@@ -11,10 +11,12 @@ designed to be modular and can be easily extended to support new functionality.
 """
 
 from .action_manager import ActionManager, ActionTerm
+from .command_manager import CommandManager, CommandTerm
 from .curriculum_manager import CurriculumManager
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import (
     ActionTermCfg,
+    CommandTermCfg,
     CurriculumTermCfg,
     ManagerTermBaseCfg,
     ObservationGroupCfg,

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py → source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/command_manager.py

@@ -3,52 +3,47 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Base class for command generators.
-
-This class defines an interface for command generators that can be used for goal-conditioned
-tasks. Each command generator class should inherit from this class and implement the abstract
-methods.
-"""
+"""Command manager for generating and updating commands."""
 
 from __future__ import annotations
 
 import inspect
 import torch
 import weakref
-from abc import ABC, abstractmethod
+from abc import abstractmethod
+from prettytable import PrettyTable
 from typing import TYPE_CHECKING, Sequence
 
 import omni.kit.app
 
-if TYPE_CHECKING:
-    from omni.isaac.orbit.envs import BaseEnv
+from .manager_base import ManagerBase, ManagerTermBase
+from .manager_term_cfg import CommandTermCfg
 
-    from .command_generator_cfg import CommandGeneratorBaseCfg
+if TYPE_CHECKING:
+    from omni.isaac.orbit.envs import RLTaskEnv
 
 
-class CommandGeneratorBase(ABC):
-    """The base class for implementing a command generator.
+class CommandTerm(ManagerTermBase):
+    """The base class for implementing a command term.
 
-    A command generator is used to generate commands for goal-conditioned tasks. For example,
-    in the case of a goal-conditioned navigation task, the command generator can be used to
+    A command term is used to generate commands for goal-conditioned tasks. For example,
+    in the case of a goal-conditioned navigation task, the command term can be used to
     generate a target position for the robot to navigate to.
 
-    The command generator implements a resampling mechanism that allows the command to be
-    resampled at a fixed frequency. The resampling frequency can be specified in the
-    configuration object. Additionally, it is possible to assign a visualization function
-    to the command generator that can be used to visualize the command in the simulator.
+    It implements a resampling mechanism that allows the command to be resampled at a fixed
+    frequency. The resampling frequency can be specified in the configuration object.
+    Additionally, it is possible to assign a visualization function to the command term
+    that can be used to visualize the command in the simulator.
     """
 
-    def __init__(self, cfg: CommandGeneratorBaseCfg, env: BaseEnv):
+    def __init__(self, cfg: CommandTermCfg, env: RLTaskEnv):
         """Initialize the command generator class.
 
         Args:
             cfg: The configuration parameters for the command generator.
             env: The environment object.
         """
-        # store the inputs
-        self.cfg = cfg
-        self._env = env
+        super().__init__(cfg, env)
 
         # create buffers to store the command
         # -- metrics that can be used for logging
@@ -73,16 +68,6 @@ class CommandGeneratorBase(ABC):
     Properties
     """
 
-    @property
-    def num_envs(self) -> int:
-        """Number of environments."""
-        return self._env.num_envs
-
-    @property
-    def device(self) -> str:
-        """Device on which to perform computations."""
-        return self._env.device
-
     @property
     @abstractmethod
     def command(self) -> torch.Tensor:
@@ -141,7 +126,7 @@ class CommandGeneratorBase(ABC):
             env_ids: The list of environment IDs to reset. Defaults to None.
 
         Returns:
-            A dictionary containing the information to log under the "Metrics/{name}" key.
+            A dictionary containing the information to log under the "{name}" key.
         """
         # resolve the environment IDs
         if env_ids is None:
@@ -154,7 +139,7 @@ class CommandGeneratorBase(ABC):
         extras = {}
         for metric_name, metric_value in self.metrics.items():
             # compute the mean metric value
-            extras[f"Metrics/{metric_name}"] = torch.mean(metric_value[env_ids]).item()
+            extras[metric_name] = torch.mean(metric_value[env_ids]).item()
             # reset the metric value
             metric_value[env_ids] = 0.0
         return extras
@@ -230,3 +215,169 @@ class CommandGeneratorBase(ABC):
         This function calls the visualization objects and sets the data to visualize into them.
         """
         raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
+
+
+class CommandManager(ManagerBase):
+    """Manager for generating commands.
+
+    The command manager is used to generate commands for an agent to execute. It makes it convenient to switch
+    between different command generation strategies within the same environment. For instance, in an environment
+    consisting of a quadrupedal robot, the command to it could be a velocity command or position command.
+    By keeping the command generation logic separate from the environment, it is easy to switch between different
+    command generation strategies.
+
+    The command terms are implemented as classes that inherit from the :class:`CommandTerm` class.
+    Each command generator term should also have a corresponding configuration class that inherits from the
+    :class:`CommandTermCfg` class.
+    """
+
+    _env: RLTaskEnv
+    """The environment instance."""
+
+    def __init__(self, cfg: object, env: RLTaskEnv):
+        """Initialize the command manager.
+
+        Args:
+            cfg: The configuration object or dictionary (``dict[str, CommandTermCfg]``).
+            env: The environment instance.
+        """
+        super().__init__(cfg, env)
+        # store the commands
+        self._commands = dict()
+        self.cfg.debug_vis = False
+        for term in self._terms.values():
+            self.cfg.debug_vis |= term.cfg.debug_vis
+
+    def __str__(self) -> str:
+        """Returns: A string representation for the command manager."""
+        msg = f"<CommandManager> contains {len(self._terms.values())} active terms.\n"
+
+        # create table for term information
+        table = PrettyTable()
+        table.title = "Active Command Terms"
+        table.field_names = ["Index", "Name", "Type"]
+        # set alignment of table columns
+        table.align["Name"] = "l"
+        # add info on each term
+        for index, (name, term) in enumerate(self._terms.items()):
+            table.add_row([index, name, term.__class__.__name__])
+        # convert table to string
+        msg += table.get_string()
+
+        return msg
+
+    """
+    Properties.
+    """
+
+    @property
+    def active_terms(self) -> list[str]:
+        """Name of active command terms."""
+        return list(self._terms.keys())
+
+    @property
+    def has_debug_vis_implementation(self) -> bool:
+        """Whether the command terms have debug visualization implemented."""
+        # check if function raises NotImplementedError
+        has_debug_vis = False
+        for term in self._terms.values():
+            has_debug_vis |= term.has_debug_vis_implementation
+        return has_debug_vis
+
+    """
+    Operations.
+    """
+
+    def set_debug_vis(self, debug_vis: bool) -> bool:
+        """Sets whether to visualize the command data.
+
+        Args:
+            debug_vis: Whether to visualize the command data.
+
+        Returns:
+            Whether the debug visualization was successfully set. False if the command
+            generator does not support debug visualization.
+        """
+        for term in self._terms.values():
+            term.set_debug_vis(debug_vis)
+
+    def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, torch.Tensor]:
+        """Reset the command terms and log their metrics.
+
+        This function resets the command counter and resamples the command for each term. It should be called
+        at the beginning of each episode.
+
+        Args:
+            env_ids: The list of environment IDs to reset. Defaults to None.
+
+        Returns:
+            A dictionary containing the information to log under the "Metrics/{term_name}/{metric_name}" key.
+        """
+        # resolve environment ids
+        if env_ids is None:
+            env_ids = slice(None)
+        # store information
+        extras = {}
+        for name, term in self._terms.items():
+            # reset the command term
+            metrics = term.reset(env_ids=env_ids)
+            # compute the mean metric value
+            for metric_name, metric_value in metrics.items():
+                extras[f"Metrics/{name}/{metric_name}"] = metric_value
+        # return logged information
+        return extras
+
+    def compute(self, dt: float):
+        """Updates the commands.
+
+        This function calls each command term managed by the class.
+
+        Args:
+            dt: The time-step interval of the environment.
+
+        """
+        # iterate over all the command terms
+        for term in self._terms.values():
+            # compute term's value
+            term.compute(dt)
+
+    def get_command(self, name: str) -> torch.Tensor:
+        """Returns the command for the specified command term.
+
+        Args:
+            name: The name of the command term.
+
+        Returns:
+            The command tensor of the specified command term.
+        """
+        return self._terms[name].command
+
+    """
+    Helper functions.
+    """
+
+    def _prepare_terms(self):
+        """Prepares a list of command terms."""
+        # parse command terms from the config
+        self._terms: dict[str, CommandTerm] = dict()
+
+        # check if config is dict already
+        if isinstance(self.cfg, dict):
+            cfg_items = self.cfg.items()
+        else:
+            cfg_items = self.cfg.__dict__.items()
+        # iterate over all the terms
+        for term_name, term_cfg in cfg_items:
+            # check for non config
+            if term_cfg is None:
+                continue
+            # check for valid config type
+            if not isinstance(term_cfg, CommandTermCfg):
+                raise TypeError(
+                    f"Configuration for the term '{term_name}' is not of type CommandTermCfg."
+                    f" Received: '{type(term_cfg)}'."
+                )
+            # create the action term
+            term = term_cfg.class_type(term_cfg, self._env)
+            # add class to dict
+            self._terms[term_name] = term

source/extensions/omni.isaac.orbit/omni/isaac/orbit/managers/manager_term_cfg.py

@@ -18,6 +18,7 @@ from .scene_entity_cfg import SceneEntityCfg
 
 if TYPE_CHECKING:
     from .action_manager import ActionTerm
+    from .command_manager import CommandTerm
     from .manager_base import ManagerTermBase
 
 
@@ -71,6 +72,27 @@ class ActionTermCfg:
     """
 
 
+##
+# Command manager.
+##
+
+
+@configclass
+class CommandTermCfg:
+    """Configuration for a command generator term."""
+
+    class_type: type[CommandTerm] = MISSING
+    """The associated command term class to use.
+
+    The class should inherit from :class:`omni.isaac.orbit.managers.command_manager.CommandTerm`.
+    """
+
+    resampling_time_range: tuple[float, float] = MISSING
+    """Time before commands are changed [s]."""
+    debug_vis: bool = False
+    """Whether to visualize debug information. Defaults to False."""
+
+
 ##
 # Curriculum manager.
 ##

source/extensions/omni.isaac.orbit/test/command_generators/test_null_command_generator.py → source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py

@@ -18,10 +18,10 @@ simulation_app = SimulationApp(config)
 import unittest
 from collections import namedtuple
 
-from omni.isaac.orbit.command_generators import NullCommandGeneratorCfg
+from omni.isaac.orbit.envs.mdp import NullCommandCfg
 
 
-class TestNullCommandGeneratorCfg(unittest.TestCase):
+class TestNullCommandTerm(unittest.TestCase):
     """Test cases for null command generator."""
 
     def setUp(self) -> None:
@@ -29,24 +29,24 @@ class TestNullCommandGeneratorCfg(unittest.TestCase):
 
     def test_str(self):
         """Test the string representation of the command manager."""
-        cfg = NullCommandGeneratorCfg()
-        command_manager = cfg.class_type(cfg, self.env)
+        cfg = NullCommandCfg()
+        command_term = cfg.class_type(cfg, self.env)
         # print the expected string
         print()
-        print(command_manager)
+        print(command_term)
 
     def test_compute(self):
         """Test the compute function. For null command generator, it does nothing."""
-        cfg = NullCommandGeneratorCfg()
-        command_manager = cfg.class_type(cfg, self.env)
+        cfg = NullCommandCfg()
+        command_term = cfg.class_type(cfg, self.env)
 
         # test the reset function
-        command_manager.reset()
+        command_term.reset()
         # test the compute function
-        command_manager.compute(dt=self.env.dt)
+        command_term.compute(dt=self.env.dt)
         # expect error
         with self.assertRaises(RuntimeError):
-            command_manager.command
+            command_term.command
 
 
 if __name__ == "__main__":

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py

@@ -8,7 +8,6 @@ from __future__ import annotations
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.command_generators import NullCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
@@ -86,6 +85,19 @@ class MySceneCfg(InteractiveSceneCfg):
     )
 
 
+##
+# MDP settings
+##
+
+
+@configclass
+class CommandsCfg:
+    """Command terms for the MDP."""
+
+    # no commands for this MDP
+    null = mdp.NullCommandCfg()
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -199,7 +211,7 @@ class AntEnvCfg(RLTaskEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: NullCommandGeneratorCfg = NullCommandGeneratorCfg()
+    commands: CommandsCfg = CommandsCfg()
 
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py

@@ -10,7 +10,6 @@ from omni.isaac.orbit_assets import ORBIT_ASSETS_DATA_DIR
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.command_generators.command_generator_cfg import NullCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
@@ -90,6 +89,14 @@ class CartpoleSceneCfg(InteractiveSceneCfg):
 ##
 
 
+@configclass
+class CommandsCfg:
+    """Command terms for the MDP."""
+
+    # no commands for this MDP
+    null = mdp.NullCommandCfg()
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -211,7 +218,7 @@ class CartpoleEnvCfg(RLTaskEnvCfg):
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
     # No command generator
-    commands: NullCommandGeneratorCfg = NullCommandGeneratorCfg()
+    commands: CommandsCfg = CommandsCfg()
 
     def __post_init__(self) -> None:
         """Post initialization."""

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py

@@ -8,7 +8,6 @@ from __future__ import annotations
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.actuators import ImplicitActuatorCfg
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.command_generators import NullCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
 from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
@@ -100,6 +99,19 @@ class MySceneCfg(InteractiveSceneCfg):
     )
 
 
+##
+# MDP settings
+##
+
+
+@configclass
+class CommandsCfg:
+    """Command terms for the MDP."""
+
+    # no commands for this MDP
+    null = mdp.NullCommandCfg()
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -254,7 +266,7 @@ class HumanoidEnvCfg(RLTaskEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: NullCommandGeneratorCfg = NullCommandGeneratorCfg()
+    commands: CommandsCfg = CommandsCfg()
 
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/__init__.py

@@ -7,4 +7,5 @@
 
 from omni.isaac.orbit.envs.mdp import *  # noqa: F401, F403
 
+from .curriculums import *  # noqa: F401, F403
 from .rewards import *  # noqa: F401, F403

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/curriculums.py

+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Common functions that can be used to create curriculum for the learning environment.
+
+The functions can be passed to the :class:`omni.isaac.orbit.managers.CurriculumTermCfg` object to enable
+the curriculum introduced by the function.
+"""
+
+from __future__ import annotations
+
+import torch
+from typing import TYPE_CHECKING, Sequence
+
+from omni.isaac.orbit.assets import Articulation
+from omni.isaac.orbit.managers import SceneEntityCfg
+from omni.isaac.orbit.terrains import TerrainImporter
+
+if TYPE_CHECKING:
+    from omni.isaac.orbit.envs import RLTaskEnv
+
+
+def terrain_levels_vel(
+    env: RLTaskEnv, env_ids: Sequence[int], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
+) -> torch.Tensor:
+    """Curriculum based on the distance the robot walked when commanded to move at a desired velocity.
+
+    This term is used to increase the difficulty of the terrain when the robot walks far enough and decrease the
+    difficulty when the robot walks less than half of the distance required by the commanded velocity.
+
+    .. note::
+        It is only possible to use this term with the terrain type ``generator``. For further information
+        on different terrain types, check the :class:`omni.isaac.orbit.terrains.TerrainImporter` class.
+
+    Returns:
+        The mean terrain level for the given environment ids.
+    """
+    # extract the used quantities (to enable type-hinting)
+    asset: Articulation = env.scene[asset_cfg.name]
+    terrain: TerrainImporter = env.scene.terrain
+    command = env.command_manager.get_command("base_velocity")
+    # compute the distance the robot walked
+    distance = torch.norm(asset.data.root_pos_w[env_ids, :2] - env.scene.env_origins[env_ids, :2], dim=1)
+    # robots that walked far enough progress to harder terrains
+    move_up = distance > terrain.cfg.terrain_generator.size[0] / 2
+    # robots that walked less than half of their required distance go to simpler terrains
+    move_down = distance < torch.norm(command[env_ids, :2], dim=1) * env.max_episode_length_s * 0.5
+    move_down *= ~move_up
+    # update terrain levels
+    terrain.update_env_origins(env_ids, move_up, move_down)
+    # return the mean terrain level
+    return torch.mean(terrain.terrain_levels.float())

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/mdp/rewards.py

@@ -15,7 +15,7 @@ if TYPE_CHECKING:
     from omni.isaac.orbit.envs import RLTaskEnv
 
 
-def feet_air_time(env: RLTaskEnv, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
+def feet_air_time(env: RLTaskEnv, command_name: str, sensor_cfg: SceneEntityCfg, threshold: float) -> torch.Tensor:
     """Reward long steps taken by the feet using L2-kernel.
 
     This function rewards the agent for taking steps that are longer than a threshold. This helps ensure
@@ -31,5 +31,5 @@ def feet_air_time(env: RLTaskEnv, sensor_cfg: SceneEntityCfg, threshold: float)
     first_contact = last_air_time > 0.0
     reward = torch.sum((last_air_time - threshold) * first_contact, dim=1)
     # no reward for zero command
-    reward *= torch.norm(env.command_manager.command[:, :2], dim=1) > 0.1
+    reward *= torch.norm(env.command_manager.get_command(command_name)[:, :2], dim=1) > 0.1
     return reward

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/velocity_env_cfg.py

@@ -10,7 +10,6 @@ from dataclasses import MISSING
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.command_generators import UniformVelocityCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
@@ -89,6 +88,23 @@ class MySceneCfg(InteractiveSceneCfg):
 ##
 
 
+@configclass
+class CommandsCfg:
+    """Command specifications for the MDP."""
+
+    base_velocity = mdp.UniformVelocityCommandCfg(
+        asset_name="robot",
+        resampling_time_range=(10.0, 10.0),
+        rel_standing_envs=0.02,
+        rel_heading_envs=1.0,
+        heading_command=True,
+        debug_vis=True,
+        ranges=mdp.UniformVelocityCommandCfg.Ranges(
+            lin_vel_x=(-1.0, 1.0), lin_vel_y=(-1.0, 1.0), ang_vel_z=(-1.0, 1.0), heading=(-math.pi, math.pi)
+        ),
+    )
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -111,7 +127,7 @@ class ObservationsCfg:
             func=mdp.projected_gravity,
             noise=Unoise(n_min=-0.05, n_max=0.05),
         )
-        velocity_commands = ObsTerm(func=mdp.generated_commands)
+        velocity_commands = ObsTerm(func=mdp.generated_commands, params={"command_name": "base_velocity"})
         joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
         joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-1.5, n_max=1.5))
         actions = ObsTerm(func=mdp.last_action)
@@ -203,8 +219,12 @@ class RewardsCfg:
     """Reward terms for the MDP."""
 
     # -- task
-    track_lin_vel_xy_exp = RewTerm(func=mdp.track_lin_vel_xy_exp, weight=1.0, params={"std": math.sqrt(0.25)})
-    track_ang_vel_z_exp = RewTerm(func=mdp.track_ang_vel_z_exp, weight=0.5, params={"std": math.sqrt(0.25)})
+    track_lin_vel_xy_exp = RewTerm(
+        func=mdp.track_lin_vel_xy_exp, weight=1.0, params={"command_name": "base_velocity", "std": math.sqrt(0.25)}
+    )
+    track_ang_vel_z_exp = RewTerm(
+        func=mdp.track_ang_vel_z_exp, weight=0.5, params={"command_name": "base_velocity", "std": math.sqrt(0.25)}
+    )
     # -- penalties
     lin_vel_z_l2 = RewTerm(func=mdp.lin_vel_z_l2, weight=-2.0)
     ang_vel_xy_l2 = RewTerm(func=mdp.ang_vel_xy_l2, weight=-0.05)
@@ -214,7 +234,11 @@ class RewardsCfg:
     feet_air_time = RewTerm(
         func=mdp.feet_air_time,
         weight=0.5,
-        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*SHANK"), "threshold": 0.5},
+        params={
+            "sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*SHANK"),
+            "command_name": "base_velocity",
+            "threshold": 0.5,
+        },
     )
     undesired_contacts = RewTerm(
         func=mdp.undesired_contacts,
@@ -258,17 +282,7 @@ class LocomotionVelocityRoughEnvCfg(RLTaskEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: UniformVelocityCommandGeneratorCfg = UniformVelocityCommandGeneratorCfg(
-        asset_name="robot",
-        resampling_time_range=(10.0, 10.0),
-        rel_standing_envs=0.02,
-        rel_heading_envs=1.0,
-        heading_command=True,
-        debug_vis=True,
-        ranges=UniformVelocityCommandGeneratorCfg.Ranges(
-            lin_vel_x=(-1.0, 1.0), lin_vel_y=(-1.0, 1.0), ang_vel_z=(-1.0, 1.0), heading=(-math.pi, math.pi)
-        ),
-    )
+    commands: CommandsCfg = CommandsCfg()
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/env_cfg.py

@@ -42,7 +42,7 @@ class FrankaCubeLiftEnvCfg(LiftEnvCfg):
             close_command_expr={"panda_finger_.*": 0.0},
         )
         # Set the body name for the end effector
-        self.commands.body_name = "panda_hand"
+        self.commands.object_pose.body_name = "panda_hand"
 
         # Set Cube as object
         self.scene.object = RigidObjectCfg(

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py

@@ -13,7 +13,6 @@ from dataclasses import MISSING
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
-from omni.isaac.orbit.command_generators.command_generator_cfg import UniformPoseCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
 from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
@@ -75,6 +74,21 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
 ##
 
 
+@configclass
+class CommandsCfg:
+    """Command terms for the MDP."""
+
+    object_pose = mdp.UniformPoseCommandCfg(
+        asset_name="robot",
+        body_name=MISSING,  # will be set by agent env cfg
+        resampling_time_range=(5.0, 5.0),
+        debug_vis=True,
+        ranges=mdp.UniformPoseCommandCfg.Ranges(
+            pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.25, 0.5), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)
+        ),
+    )
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -95,7 +109,7 @@ class ObservationsCfg:
         joint_pos = ObsTerm(func=mdp.joint_pos_rel)
         joint_vel = ObsTerm(func=mdp.joint_vel_rel)
         object_position = ObsTerm(func=mdp.object_position_in_robot_root_frame)
-        target_object_position = ObsTerm(func=mdp.generated_commands)
+        target_object_position = ObsTerm(func=mdp.generated_commands, params={"command_name": "object_pose"})
         actions = ObsTerm(func=mdp.last_action)
 
         def __post_init__(self):
@@ -133,13 +147,13 @@ class RewardsCfg:
 
     object_goal_tracking = RewTerm(
         func=mdp.object_goal_distance,
-        params={"std": 0.3, "minimal_height": 0.06},
+        params={"std": 0.3, "minimal_height": 0.06, "command_name": "object_pose"},
         weight=16.0,
     )
 
     object_goal_tracking_fine_grained = RewTerm(
         func=mdp.object_goal_distance,
-        params={"std": 0.05, "minimal_height": 0.06},
+        params={"std": 0.05, "minimal_height": 0.06, "command_name": "object_pose"},
         weight=5.0,
     )
 
@@ -188,22 +202,10 @@ class LiftEnvCfg(RLTaskEnvCfg):
 
     # Scene settings
     scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=4096, env_spacing=2.5, replicate_physics=False)
-
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
-
     actions: ActionsCfg = ActionsCfg()
-
-    commands: UniformPoseCommandGeneratorCfg = UniformPoseCommandGeneratorCfg(
-        asset_name="robot",
-        body_name=MISSING,  # will be set by agent env cfg
-        resampling_time_range=(5.0, 5.0),
-        debug_vis=True,
-        ranges=UniformPoseCommandGeneratorCfg.Ranges(
-            pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.25, 0.5), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)
-        ),
-    )
-
+    commands: CommandsCfg = CommandsCfg()
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/rewards.py

@@ -9,7 +9,6 @@ import torch
 from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import RigidObject
-from omni.isaac.orbit.command_generators import UniformPoseCommandGenerator
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.sensors import FrameTransformer
 from omni.isaac.orbit.utils.math import combine_frame_transforms
@@ -33,10 +32,10 @@ def object_ee_distance(
     ee_frame_cfg: SceneEntityCfg = SceneEntityCfg("ee_frame"),
 ) -> torch.Tensor:
     """Reward the agent for reaching the object using tanh-kernel."""
-
-    # Target object position: (num_envs, 3)
+    # extract the used quantities (to enable type-hinting)
     object: RigidObject = env.scene[object_cfg.name]
     ee_frame: FrameTransformer = env.scene[ee_frame_cfg.name]
+    # Target object position: (num_envs, 3)
     cube_pos_w = object.data.root_pos_w
     # End-effector position: (num_envs, 3)
     ee_w = ee_frame.data.target_pos_w[..., 0, :]
@@ -50,15 +49,17 @@ def object_goal_distance(
     env: RLTaskEnv,
     std: float,
     minimal_height: float,
+    command_name: str,
     robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
     object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
 ) -> torch.Tensor:
     """Reward the agent for tracking the goal pose using tanh-kernel."""
+    # extract the used quantities (to enable type-hinting)
     robot: RigidObject = env.scene[robot_cfg.name]
     object: RigidObject = env.scene[object_cfg.name]
-
-    command_manager: UniformPoseCommandGenerator = env.command_manager
-    des_pos_b = command_manager.command[:, :3]
+    command = env.command_manager.get_command(command_name)
+    # compute the desired position in the world frame
+    des_pos_b = command[:, :3]
     des_pos_w, _ = combine_frame_transforms(robot.data.root_state_w[:, :3], robot.data.root_state_w[:, 3:7], des_pos_b)
     # distance of the end-effector to the object: (num_envs,)
     distance = torch.norm(des_pos_w - object.data.root_pos_w[:, :3], dim=1)

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/env_cfg.py

@@ -41,8 +41,8 @@ class FrankaReachEnvCfg(ReachEnvCfg):
         )
         # override command generator body
         # end-effector is along z-direction
-        self.commands.body_name = "panda_hand"
-        self.commands.ranges.pitch = (math.pi, math.pi)
+        self.commands.ee_pose.body_name = "panda_hand"
+        self.commands.ee_pose.ranges.pitch = (math.pi, math.pi)
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/env_cfg.py

@@ -43,8 +43,8 @@ class UR10ReachEnvCfg(ReachEnvCfg):
         )
         # override command generator body
         # end-effector is along x-direction
-        self.commands.body_name = "ee_link"
-        self.commands.ranges.pitch = (math.pi / 2, math.pi / 2)
+        self.commands.ee_pose.body_name = "ee_link"
+        self.commands.ee_pose.ranges.pitch = (math.pi / 2, math.pi / 2)
 
 
 @configclass

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/rewards.py

@@ -9,7 +9,6 @@ import torch
 from typing import TYPE_CHECKING
 
 from omni.isaac.orbit.assets import RigidObject
-from omni.isaac.orbit.command_generators import UniformPoseCommandGenerator
 from omni.isaac.orbit.managers import SceneEntityCfg
 from omni.isaac.orbit.utils.math import combine_frame_transforms, quat_error_magnitude, quat_mul
 
@@ -17,7 +16,7 @@ if TYPE_CHECKING:
     from omni.isaac.orbit.envs import RLTaskEnv
 
 
-def position_command_error(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def position_command_error(env: RLTaskEnv, command_name: str, asset_cfg: SceneEntityCfg) -> torch.Tensor:
     """Penalize tracking of the position error using L2-norm.
 
     The function computes the position error between the desired position (from the command) and the
@@ -26,15 +25,15 @@ def position_command_error(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torch.T
     """
     # extract the asset (to enable type hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
-    command_manager: UniformPoseCommandGenerator = env.command_manager
+    command = env.command_manager.get_command(command_name)
     # obtain the desired and current positions
-    des_pos_b = command_manager.command[:, :3]
+    des_pos_b = command[:, :3]
     des_pos_w, _ = combine_frame_transforms(asset.data.root_state_w[:, :3], asset.data.root_state_w[:, 3:7], des_pos_b)
     curr_pos_w = asset.data.body_state_w[:, asset_cfg.body_ids[0], :3]  # type: ignore
     return torch.norm(curr_pos_w - des_pos_w, dim=1)
 
 
-def orientation_command_error(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
+def orientation_command_error(env: RLTaskEnv, command_name: str, asset_cfg: SceneEntityCfg) -> torch.Tensor:
     """Penalize tracking orientation error using shortest path.
 
     The function computes the orientation error between the desired orientation (from the command) and the
@@ -43,9 +42,9 @@ def orientation_command_error(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torc
     """
     # extract the asset (to enable type hinting)
     asset: RigidObject = env.scene[asset_cfg.name]
-    command_manager: UniformPoseCommandGenerator = env.command_manager
+    command = env.command_manager.get_command(command_name)
     # obtain the desired and current orientations
-    des_quat_b = command_manager.command[:, 3:7]
+    des_quat_b = command[:, 3:7]
     des_quat_w = quat_mul(asset.data.root_state_w[:, 3:7], des_quat_b)
     curr_quat_w = asset.data.body_state_w[:, asset_cfg.body_ids[0], 3:7]  # type: ignore
     return quat_error_magnitude(curr_quat_w, des_quat_w)

source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py

@@ -9,7 +9,6 @@ from dataclasses import MISSING
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
-from omni.isaac.orbit.command_generators import UniformPoseCommandGeneratorCfg
 from omni.isaac.orbit.envs import RLTaskEnvCfg
 from omni.isaac.orbit.managers import ActionTermCfg as ActionTerm
 from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
@@ -65,6 +64,26 @@ class ReachSceneCfg(InteractiveSceneCfg):
 ##
 
 
+@configclass
+class CommandsCfg:
+    """Command terms for the MDP."""
+
+    ee_pose = mdp.UniformPoseCommandCfg(
+        asset_name="robot",
+        body_name=MISSING,
+        resampling_time_range=(4.0, 4.0),
+        debug_vis=True,
+        ranges=mdp.UniformPoseCommandCfg.Ranges(
+            pos_x=(0.35, 0.65),
+            pos_y=(-0.2, 0.2),
+            pos_z=(0.15, 0.5),
+            roll=(0.0, 0.0),
+            pitch=MISSING,  # depends on end-effector axis
+            yaw=(-3.14, 3.14),
+        ),
+    )
+
+
 @configclass
 class ActionsCfg:
     """Action specifications for the MDP."""
@@ -84,7 +103,7 @@ class ObservationsCfg:
         # observation terms (order preserved)
         joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
         joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
-        pose_command = ObsTerm(func=mdp.generated_commands)
+        pose_command = ObsTerm(func=mdp.generated_commands, params={"command_name": "ee_pose"})
         actions = ObsTerm(func=mdp.last_action)
 
         def __post_init__(self):
@@ -117,12 +136,12 @@ class RewardsCfg:
     end_effector_position_tracking = RewTerm(
         func=mdp.position_command_error,
         weight=-0.2,
-        params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING)},
+        params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING), "command_name": "ee_pose"},
     )
     end_effector_orientation_tracking = RewTerm(
         func=mdp.orientation_command_error,
         weight=-0.05,
-        params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING)},
+        params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING), "command_name": "ee_pose"},
     )
 
     # action penalty
@@ -164,20 +183,7 @@ class ReachEnvCfg(RLTaskEnvCfg):
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
-    commands: UniformPoseCommandGeneratorCfg = UniformPoseCommandGeneratorCfg(
-        asset_name="robot",
-        body_name=MISSING,
-        resampling_time_range=(4.0, 4.0),
-        debug_vis=True,
-        ranges=UniformPoseCommandGeneratorCfg.Ranges(
-            pos_x=(0.35, 0.65),
-            pos_y=(-0.2, 0.2),
-            pos_z=(0.15, 0.5),
-            roll=(0.0, 0.0),
-            pitch=MISSING,  # depends on end-effector axis
-            yaw=(-3.14, 3.14),
-        ),
-    )
+    commands: CommandsCfg = CommandsCfg()
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()