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.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

@@ -1,7 +1,7 @@
 [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

@@ -1,6 +1,16 @@
 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/envs/mdp/__init__.py

@@ -16,6 +16,7 @@
 """
 
 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

@@ -0,0 +1,18 @@
+# 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

@@ -8,45 +8,24 @@
 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.
 """
 
 
 @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 @@ def __post_init__(self):
 
 
 @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 Ranges:
 
 
 @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 Ranges:
 
 
 @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 Ranges:
 
 
 @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 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 @@ def command(self):
         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.