Fixes import inside InteractiveScene and LiveVisualizer (#2611)

# Description

The imports for `omni.log` was missing. In the other file, carb was used
(incorrectly) instead of omni.log.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 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/isaaclab/isaaclab/scene/interactive_scene.py

@@ -8,6 +8,7 @@ from collections.abc import Sequence
 from typing import Any
 
 import carb
+import omni.log
 import omni.usd
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import XFormPrim
@@ -621,7 +622,12 @@ class InteractiveScene:
     Internal methods.
     """
 
-    def _is_scene_setup_from_cfg(self):
+    def _is_scene_setup_from_cfg(self) -> bool:
+        """Check if scene entities are setup from the config or not.
+
+        Returns:
+            True if scene entities are setup from the config, False otherwise.
+        """
         return any(
             not (asset_name in InteractiveSceneCfg.__dataclass_fields__ or asset_cfg is None)
             for asset_name, asset_cfg in self.cfg.__dict__.items()

source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py

@@ -10,8 +10,8 @@ import weakref
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-import carb
 import omni.kit.app
+import omni.log
 from isaacsim.core.api.simulation_context import SimulationContext
 
 from isaaclab.managers import ManagerBase
@@ -27,12 +27,14 @@ if TYPE_CHECKING:
 
 @configclass
 class ManagerLiveVisualizerCfg:
-    "Configuration for ManagerLiveVisualizer"
+    """Configuration for the :class:`ManagerLiveVisualizer` class."""
 
     debug_vis: bool = False
-    """Flag used to set status of the live visualizers on startup. Defaults to closed."""
+    """Flag used to set status of the live visualizers on startup. Defaults to False, which means closed."""
+
     manager_name: str = MISSING
     """Manager name that corresponds to the manager of interest in the ManagerBasedEnv and ManagerBasedRLEnv"""
+
     term_names: list[str] | dict[str, list[str]] | None = None
     """Specific term names specified in a Manager config that are chosen to be plotted. Defaults to None.
 
@@ -42,15 +44,20 @@ class ManagerLiveVisualizerCfg:
 
 
 class ManagerLiveVisualizer(UiVisualizerBase):
-    """A interface object used to transfer data from a manager to a UI widget. This class handles the creation of UI
-    Widgets for selected terms given a ManagerLiveVisualizerCfg.
+    """A interface object used to transfer data from a manager to a UI widget.
+
+    This class handles the creation of UI Widgets for selected terms given a :class:`ManagerLiveVisualizerCfg`.
+    It iterates through the terms of the manager and creates a visualizer for each term. If the term is a single
+    variable or a multi-variable signal, it creates a :class:`LiveLinePlot`. If the term is an image (2D or RGB),
+    it creates an :class:`ImagePlot`. The visualizer can be toggled on and off using the
+    :attr:`ManagerLiveVisualizerCfg.debug_vis` flag in the configuration.
     """
 
     def __init__(self, manager: ManagerBase, cfg: ManagerLiveVisualizerCfg = ManagerLiveVisualizerCfg()):
         """Initialize ManagerLiveVisualizer.
 
         Args:
-            manager: The manager with terms to be plotted. The manager must have a get_active_iterable_terms method.
+            manager: The manager with terms to be plotted. The manager must have a :meth:`get_active_iterable_terms` method.
             cfg: The configuration file used to select desired manager terms to be plotted.
         """
 
@@ -72,7 +79,7 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                     if term_name in self._manager.active_terms:
                         self.term_names.append(term_name)
                     else:
-                        carb.log_err(
+                        omni.log.error(
                             f"ManagerVisualizer Failure: ManagerTerm ({term_name}) does not exist in"
                             f" Manager({self.cfg.manager_name})"
                         )
@@ -87,17 +94,17 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                                 if term_name in self._manager.active_terms[group]:
                                     self.term_names.append(f"{group}-{term_name}")
                                 else:
-                                    carb.log_err(
+                                    omni.log.error(
                                         f"ManagerVisualizer Failure: ManagerTerm ({term_name}) does not exist in"
                                         f" Group({group})"
                                     )
                         else:
-                            carb.log_err(
+                            omni.log.error(
                                 f"ManagerVisualizer Failure: Group ({group}) does not exist in"
                                 f" Manager({self.cfg.manager_name})"
                             )
                 else:
-                    carb.log_err(
+                    omni.log.error(
                         f"ManagerVisualizer Failure: Manager({self.cfg.manager_name}) does not utilize grouping of"
                         " terms."
                     )
@@ -108,12 +115,12 @@ class ManagerLiveVisualizer(UiVisualizerBase):
 
     @property
     def get_vis_frame(self) -> omni.ui.Frame:
-        """Getter for the UI Frame object tied to this visualizer."""
+        """Returns the UI Frame object tied to this visualizer."""
         return self._vis_frame
 
     @property
     def get_vis_window(self) -> omni.ui.Window:
-        """Getter for the UI Window object tied to this visualizer."""
+        """Returns the UI Window object tied to this visualizer."""
         return self._vis_window
 
     #
@@ -141,7 +148,7 @@ class ManagerLiveVisualizer(UiVisualizerBase):
         if env_idx > 0 and env_idx < self._manager.num_envs:
             self._env_idx = env_idx
         else:
-            carb.log_warn(f"Environment index is out of range (0,{self._manager.num_envs})")
+            omni.log.warn(f"Environment index is out of range (0, {self._manager.num_envs - 1})")
 
     def _set_vis_frame_impl(self, frame: omni.ui.Frame):
         """Updates the assigned frame that can be used for visualizations.
@@ -210,24 +217,17 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                             style={"border_color": 0xFF8A8777, "padding": 4},
                         )
                         with frame:
-                            # create line plot for single or multivariable signals
+                            # create line plot for single or multi-variable signals
                             len_term_shape = len(numpy.array(term).shape)
                             if len_term_shape <= 2:
-                                plot = LiveLinePlot(
-                                    y_data=[[elem] for elem in term],
-                                    plot_height=150,
-                                    show_legend=True,
-                                )
+                                plot = LiveLinePlot(y_data=[[elem] for elem in term], plot_height=150, show_legend=True)
                                 self._term_visualizers.append(plot)
                             # create an image plot for 2d and greater data (i.e. mono and rgb images)
                             elif len_term_shape == 3:
-                                image = ImagePlot(
-                                    image=numpy.array(term),
-                                    label=name,
-                                )
+                                image = ImagePlot(image=numpy.array(term), label=name)
                                 self._term_visualizers.append(image)
                             else:
-                                carb.log_warn(
+                                omni.log.warn(
                                     f"ManagerLiveVisualizer: Term ({name}) is not a supported data type for"
                                     " visualization."
                                 )