Makes function order consistent in the command terms (#496)

# Description

This MR makes sure that the function ordering is consistent with their
call order in the command terms.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] 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

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

@@ -7,9 +7,11 @@ from __future__ import annotations
 
 import builtins
 import torch
+import warnings
 from collections.abc import Sequence
 from typing import Any, Dict
 
+import carb
 import omni.isaac.core.utils.torch as torch_utils
 
 from omni.isaac.orbit.managers import ActionManager, EventManager, ObservationManager
@@ -202,6 +204,17 @@ class BaseEnv:
             :meth:`SimulationContext.reset_async` and it isn't possible to call async functions in the constructor.
 
         """
+        # check the configs
+        if self.cfg.randomization is not None:
+            msg = (
+                "The 'randomization' attribute is deprecated and will be removed in a future release. "
+                "Please use the 'events' attribute to configure the randomization settings."
+            )
+            warnings.warn(msg, category=DeprecationWarning)
+            carb.log_warn(msg)
+            # set the randomization as events (for backward compatibility)
+            self.cfg.events = self.cfg.randomization
+
         # prepare the managers
         # -- action manager
         self.action_manager = ActionManager(self.cfg.actions, self)

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

@@ -11,7 +11,6 @@ configuring the environment instances, viewer settings, and simulation parameter
 
 from __future__ import annotations
 
-import warnings
 from dataclasses import MISSING
 from typing import Literal
 
@@ -141,12 +140,3 @@ class BaseEnvCfg:
         attribute to configure the randomization settings.
 
     """
-
-    def __post_init__(self):
-        if self.randomization is not None:
-            warnings.warn(
-                "The 'randomization' attribute is deprecated and will be removed in a future release. "
-                "Please use the 'events' attribute to configure the randomization settings.",
-                DeprecationWarning,
-            )
-            self.events = self.randomization

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

@@ -59,11 +59,11 @@ class NullCommand(CommandTerm):
     Implementation specific functions.
     """
 
-    def _resample_command(self, env_ids: Sequence[int]):
+    def _update_metrics(self):
         pass
 
-    def _update_command(self):
+    def _resample_command(self, env_ids: Sequence[int]):
         pass
 
-    def _update_metrics(self):
+    def _update_command(self):
         pass

source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/mdp/commands/pose_2d_command.py

@@ -80,6 +80,11 @@ class UniformPose2dCommand(CommandTerm):
     Implementation specific functions.
     """
 
+    def _update_metrics(self):
+        # logs data
+        self.metrics["error_pos_2d"] = torch.norm(self.pos_command_w[:, :2] - self.robot.data.root_pos_w[:, :2], dim=1)
+        self.metrics["error_heading"] = torch.abs(wrap_to_pi(self.heading_command_w - self.robot.data.heading_w))
+
     def _resample_command(self, env_ids: Sequence[int]):
         # obtain env origins for the environments
         self.pos_command_w[env_ids] = self._env.scene.env_origins[env_ids]
@@ -116,11 +121,6 @@ class UniformPose2dCommand(CommandTerm):
         self.pos_command_b[:] = quat_rotate_inverse(yaw_quat(self.robot.data.root_quat_w), target_vec)
         self.heading_command_b[:] = wrap_to_pi(self.heading_command_w - self.robot.data.heading_w)
 
-    def _update_metrics(self):
-        # logs data
-        self.metrics["error_pos_2d"] = torch.norm(self.pos_command_w[:, :2] - self.robot.data.root_pos_w[:, :2], dim=1)
-        self.metrics["error_heading"] = torch.abs(wrap_to_pi(self.heading_command_w - self.robot.data.heading_w))
-
     def _set_debug_vis_impl(self, debug_vis: bool):
         # create markers if necessary for the first tome
         if debug_vis:

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

@@ -90,6 +90,24 @@ class UniformPoseCommand(CommandTerm):
     Implementation specific functions.
     """
 
+    def _update_metrics(self):
+        # transform command from base frame to simulation world frame
+        self.pose_command_w[:, :3], self.pose_command_w[:, 3:] = combine_frame_transforms(
+            self.robot.data.root_pos_w,
+            self.robot.data.root_quat_w,
+            self.pose_command_b[:, :3],
+            self.pose_command_b[:, 3:],
+        )
+        # compute the error
+        pos_error, rot_error = compute_pose_error(
+            self.pose_command_w[:, :3],
+            self.pose_command_w[:, 3:],
+            self.robot.data.body_state_w[:, self.body_idx, :3],
+            self.robot.data.body_state_w[:, self.body_idx, 3:7],
+        )
+        self.metrics["position_error"] = torch.norm(pos_error, dim=-1)
+        self.metrics["orientation_error"] = torch.norm(rot_error, dim=-1)
+
     def _resample_command(self, env_ids: Sequence[int]):
         # sample new pose targets
         # -- position
@@ -109,24 +127,6 @@ class UniformPoseCommand(CommandTerm):
     def _update_command(self):
         pass
 
-    def _update_metrics(self):
-        # transform command from base frame to simulation world frame
-        self.pose_command_w[:, :3], self.pose_command_w[:, 3:] = combine_frame_transforms(
-            self.robot.data.root_pos_w,
-            self.robot.data.root_quat_w,
-            self.pose_command_b[:, :3],
-            self.pose_command_b[:, 3:],
-        )
-        # compute the error
-        pos_error, rot_error = compute_pose_error(
-            self.pose_command_w[:, :3],
-            self.pose_command_w[:, 3:],
-            self.robot.data.body_state_w[:, self.body_idx, :3],
-            self.robot.data.body_state_w[:, self.body_idx, 3:7],
-        )
-        self.metrics["position_error"] = torch.norm(pos_error, dim=-1)
-        self.metrics["orientation_error"] = torch.norm(rot_error, dim=-1)
-
     def _set_debug_vis_impl(self, debug_vis: bool):
         # create markers if necessary for the first tome
         if debug_vis:

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

@@ -92,6 +92,18 @@ class UniformVelocityCommand(CommandTerm):
     Implementation specific functions.
     """
 
+    def _update_metrics(self):
+        # time for which the command was executed
+        max_command_time = self.cfg.resampling_time_range[1]
+        max_command_step = max_command_time / self._env.step_dt
+        # logs data
+        self.metrics["error_vel_xy"] += (
+            torch.norm(self.vel_command_b[:, :2] - self.robot.data.root_lin_vel_b[:, :2], dim=-1) / max_command_step
+        )
+        self.metrics["error_vel_yaw"] += (
+            torch.abs(self.vel_command_b[:, 2] - self.robot.data.root_ang_vel_b[:, 2]) / max_command_step
+        )
+
     def _resample_command(self, env_ids: Sequence[int]):
         # sample velocity commands
         r = torch.empty(len(env_ids), device=self.device)
@@ -131,18 +143,6 @@ class UniformVelocityCommand(CommandTerm):
         standing_env_ids = self.is_standing_env.nonzero(as_tuple=False).flatten()
         self.vel_command_b[standing_env_ids, :] = 0.0
 
-    def _update_metrics(self):
-        # time for which the command was executed
-        max_command_time = self.cfg.resampling_time_range[1]
-        max_command_step = max_command_time / self._env.step_dt
-        # logs data
-        self.metrics["error_vel_xy"] += (
-            torch.norm(self.vel_command_b[:, :2] - self.robot.data.root_lin_vel_b[:, :2], dim=-1) / max_command_step
-        )
-        self.metrics["error_vel_yaw"] += (
-            torch.abs(self.vel_command_b[:, 2] - self.robot.data.root_ang_vel_b[:, 2]) / max_command_step
-        )
-
     def _set_debug_vis_impl(self, debug_vis: bool):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility

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

@@ -186,6 +186,11 @@ class CommandTerm(ManagerTermBase):
     Implementation specific functions.
     """
 
+    @abstractmethod
+    def _update_metrics(self):
+        """Update the metrics based on the current state."""
+        raise NotImplementedError
+
     @abstractmethod
     def _resample_command(self, env_ids: Sequence[int]):
         """Resample the command for the specified environments."""
@@ -196,11 +201,6 @@ class CommandTerm(ManagerTermBase):
         """Update the command based on the current state."""
         raise NotImplementedError
 
-    @abstractmethod
-    def _update_metrics(self):
-        """Update the metrics based on the current state."""
-        raise NotImplementedError
-
     def _set_debug_vis_impl(self, debug_vis: bool):
         """Set debug visualization into visualization objects.