Fixes import of terrain-based 2d-pose command term

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

@@ -8,12 +8,12 @@
 from .commands_cfg import (
     NormalVelocityCommandCfg,
     NullCommandCfg,
+    TerrainBasedPose2dCommandCfg,
     UniformPose2dCommandCfg,
     UniformPoseCommandCfg,
-    UniformTerrainBasedPose2dCommandCfg,
     UniformVelocityCommandCfg,
 )
 from .null_command import NullCommand
-from .pose_2d_command import UniformPose2dCommand, UniformTerrainBasedPose2dCommandCfg
+from .pose_2d_command import TerrainBasedPose2dCommand, UniformPose2dCommand
 from .pose_command import UniformPoseCommand
 from .velocity_command import NormalVelocityCommand, UniformVelocityCommand

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

@@ -12,7 +12,7 @@ from omni.isaac.orbit.managers import CommandTermCfg
 from omni.isaac.orbit.utils import configclass
 
 from .null_command import NullCommand
-from .pose_2d_command import UniformPose2dCommand, UniformTerrainBasedPose2dCommand
+from .pose_2d_command import TerrainBasedPose2dCommand, UniformPose2dCommand
 from .pose_command import UniformPoseCommand
 from .velocity_command import NormalVelocityCommand, UniformVelocityCommand
 
@@ -130,8 +130,7 @@ class UniformPose2dCommandCfg(CommandTermCfg):
 
     asset_name: str = MISSING
     """Name of the asset in the environment for which the commands are generated."""
-    rel_standing_envs: float = MISSING
-    """Probability threshold for environments where the robots that are standing still."""
+
     simple_heading: bool = MISSING
     """Whether to use simple heading or not.
 
@@ -157,10 +156,10 @@ class UniformPose2dCommandCfg(CommandTermCfg):
 
 
 @configclass
-class UniformTerrainBasedPose2dCommandCfg(UniformPose2dCommandCfg):
+class TerrainBasedPose2dCommandCfg(UniformPose2dCommandCfg):
     """Configuration for the terrain-based position command generator."""
 
-    class_type = UniformTerrainBasedPose2dCommand
+    class_type = TerrainBasedPose2dCommand
 
     @configclass
     class Ranges:

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

@@ -21,7 +21,7 @@ from omni.isaac.orbit.utils.math import quat_from_euler_xyz, quat_rotate_inverse
 if TYPE_CHECKING:
     from omni.isaac.orbit.envs import BaseEnv
 
-    from .commands_cfg import UniformPose2dCommandCfg, UniformTerrainBasedPose2dCommandCfg
+    from .commands_cfg import TerrainBasedPose2dCommandCfg, UniformPose2dCommandCfg
 
 
 class UniformPose2dCommand(CommandTerm):
@@ -64,8 +64,7 @@ class UniformPose2dCommand(CommandTerm):
     def __str__(self) -> str:
         msg = "PositionCommand:\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}"
+        msg += f"\tResampling time range: {self.cfg.resampling_time_range}"
         return msg
 
     """
@@ -148,7 +147,7 @@ class UniformPose2dCommand(CommandTerm):
         )
 
 
-class UniformTerrainBasedPose2dCommand(UniformPose2dCommand):
+class TerrainBasedPose2dCommand(UniformPose2dCommand):
     """Command generator that generates pose commands based on the terrain.
 
     This command generator samples the position commands from the valid patches of the terrain.
@@ -157,7 +156,10 @@ class UniformTerrainBasedPose2dCommand(UniformPose2dCommand):
     It expects the terrain to have a valid flat patches under the key 'target'.
     """
 
-    def __init__(self, cfg: UniformTerrainBasedPose2dCommandCfg, env: BaseEnv):
+    cfg: TerrainBasedPose2dCommandCfg
+    """Configuration for the command generator."""
+
+    def __init__(self, cfg: TerrainBasedPose2dCommandCfg, env: BaseEnv):
         # initialize the base class
         super().__init__(cfg, env)