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Add debug_viz_z height for UniformVelocityCommand #2312

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Add debug_viz_z height for UniformVelocityCommand #2312

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3 changes: 3 additions & 0 deletions source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,9 @@ class Ranges:
ranges: Ranges = MISSING
"""Distribution ranges for the velocity commands."""

debug_vis_z: float = 0.5
"""Height at which the visualizer gets set (w.r.t. root_pos_w)."""

goal_vel_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
prim_path="/Visuals/Command/velocity_goal"
)
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
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Expand Up @@ -185,7 +185,7 @@ def _debug_vis_callback(self, event):
# get marker location
# -- base state
base_pos_w = self.robot.data.root_pos_w.clone()
base_pos_w[:, 2] += 0.5
base_pos_w[:, 2] += self.cfg.debug_vis_z
# -- resolve the scales and quaternions
vel_des_arrow_scale, vel_des_arrow_quat = self._resolve_xy_velocity_to_arrow(self.command[:, :2])
vel_arrow_scale, vel_arrow_quat = self._resolve_xy_velocity_to_arrow(self.robot.data.root_lin_vel_b[:, :2])
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