Adds visualization markers customization for the MDP command terms (#841)

# Description

This MR allows users to customize the visualization markers for the MDP
command terms. It puts them in the command term configuration file
instead of hard-coding them into the code.

## 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
`./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
- [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

source/extensions/omni.isaac.lab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.22.11"
+version = "0.22.12"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.22.12 (2024-09-08)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved the configuration of visualization markers for the command terms to their respective configuration classes.
+  This allows users to modify the markers for the command terms without having to modify the command term classes.
+
+
 0.22.11 (2024-09-10)
 ~~~~~~~~~~~~~~~~~~~~
 

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

@@ -7,6 +7,8 @@ import math
 from dataclasses import MISSING
 
 from omni.isaac.lab.managers import CommandTermCfg
+from omni.isaac.lab.markers import VisualizationMarkersCfg
+from omni.isaac.lab.markers.config import BLUE_ARROW_X_MARKER_CFG, FRAME_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 from omni.isaac.lab.utils import configclass
 
 from .null_command import NullCommand
@@ -62,6 +64,20 @@ class UniformVelocityCommandCfg(CommandTermCfg):
     ranges: Ranges = MISSING
     """Distribution ranges for the velocity commands."""
 
+    goal_vel_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/velocity_goal"
+    )
+    """The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG."""
+
+    current_vel_visualizer_cfg: VisualizationMarkersCfg = BLUE_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/velocity_current"
+    )
+    """The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.5, 0.5, 0.5)
+    goal_vel_visualizer_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
+    current_vel_visualizer_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
+
 
 @configclass
 class NormalVelocityCommandCfg(UniformVelocityCommandCfg):
@@ -125,6 +141,18 @@ class UniformPoseCommandCfg(CommandTermCfg):
     ranges: Ranges = MISSING
     """Ranges for the commands."""
 
+    goal_pose_visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/Command/goal_pose")
+    """The configuration for the goal pose visualization marker. Defaults to FRAME_MARKER_CFG."""
+
+    current_pose_visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/body_pose"
+    )
+    """The configuration for the current pose visualization marker. Defaults to FRAME_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.1, 0.1, 0.1)
+    goal_pose_visualizer_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+    current_pose_visualizer_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+
 
 @configclass
 class UniformPose2dCommandCfg(CommandTermCfg):
@@ -158,6 +186,14 @@ class UniformPose2dCommandCfg(CommandTermCfg):
     ranges: Ranges = MISSING
     """Distribution ranges for the position commands."""
 
+    goal_pose_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
+        prim_path="/Visuals/Command/pose_goal"
+    )
+    """The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG."""
+
+    # Set the scale of the visualization markers to (0.2, 0.2, 0.8)
+    goal_pose_visualizer_cfg.markers["arrow"].scale = (0.2, 0.2, 0.8)
+
 
 @configclass
 class TerrainBasedPose2dCommandCfg(UniformPose2dCommandCfg):

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

@@ -14,7 +14,6 @@ from typing import TYPE_CHECKING
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import GREEN_ARROW_X_MARKER_CFG
 from omni.isaac.lab.terrains import TerrainImporter
 from omni.isaac.lab.utils.math import quat_from_euler_xyz, quat_rotate_inverse, wrap_to_pi, yaw_quat
 
@@ -124,20 +123,17 @@ class UniformPose2dCommand(CommandTerm):
     def _set_debug_vis_impl(self, debug_vis: bool):
         # create markers if necessary for the first tome
         if debug_vis:
-            if not hasattr(self, "arrow_goal_visualizer"):
-                marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.markers["arrow"].scale = (0.2, 0.2, 0.8)
-                marker_cfg.prim_path = "/Visuals/Command/pose_goal"
-                self.arrow_goal_visualizer = VisualizationMarkers(marker_cfg)
+            if not hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)
             # set their visibility to true
-            self.arrow_goal_visualizer.set_visibility(True)
+            self.goal_pose_visualizer.set_visibility(True)
         else:
-            if hasattr(self, "arrow_goal_visualizer"):
-                self.arrow_goal_visualizer.set_visibility(False)
+            if hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # update the box marker
-        self.arrow_goal_visualizer.visualize(
+        self.goal_pose_visualizer.visualize(
             translations=self.pos_command_w,
             orientations=quat_from_euler_xyz(
                 torch.zeros_like(self.heading_command_w),

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

@@ -14,7 +14,6 @@ from typing import TYPE_CHECKING
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import FRAME_MARKER_CFG
 from omni.isaac.lab.utils.math import combine_frame_transforms, compute_pose_error, quat_from_euler_xyz, quat_unique
 
 if TYPE_CHECKING:
@@ -131,21 +130,17 @@ class UniformPoseCommand(CommandTerm):
         # create markers if necessary for the first tome
         if debug_vis:
             if not hasattr(self, "goal_pose_visualizer"):
-                marker_cfg = FRAME_MARKER_CFG.copy()
-                marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
                 # -- goal pose
-                marker_cfg.prim_path = "/Visuals/Command/goal_pose"
-                self.goal_pose_visualizer = VisualizationMarkers(marker_cfg)
+                self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)
                 # -- current body pose
-                marker_cfg.prim_path = "/Visuals/Command/body_pose"
-                self.body_pose_visualizer = VisualizationMarkers(marker_cfg)
+                self.current_pose_visualizer = VisualizationMarkers(self.cfg.current_pose_visualizer_cfg)
             # set their visibility to true
             self.goal_pose_visualizer.set_visibility(True)
-            self.body_pose_visualizer.set_visibility(True)
+            self.current_pose_visualizer.set_visibility(True)
         else:
             if hasattr(self, "goal_pose_visualizer"):
                 self.goal_pose_visualizer.set_visibility(False)
-                self.body_pose_visualizer.set_visibility(False)
+                self.current_pose_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # check if robot is initialized
@@ -157,4 +152,4 @@ class UniformPoseCommand(CommandTerm):
         self.goal_pose_visualizer.visualize(self.pose_command_w[:, :3], self.pose_command_w[:, 3:])
         # -- current body pose
         body_pose_w = self.robot.data.body_state_w[:, self.body_idx]
-        self.body_pose_visualizer.visualize(body_pose_w[:, :3], body_pose_w[:, 3:7])
+        self.current_pose_visualizer.visualize(body_pose_w[:, :3], body_pose_w[:, 3:7])

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

@@ -15,7 +15,6 @@ import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.assets import Articulation
 from omni.isaac.lab.managers import CommandTerm
 from omni.isaac.lab.markers import VisualizationMarkers
-from omni.isaac.lab.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 
 if TYPE_CHECKING:
     from omni.isaac.lab.envs import ManagerBasedEnv
@@ -148,24 +147,18 @@ class UniformVelocityCommand(CommandTerm):
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
             # create markers if necessary for the first tome
-            if not hasattr(self, "base_vel_goal_visualizer"):
+            if not hasattr(self, "goal_vel_visualizer"):
                 # -- goal
-                marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.prim_path = "/Visuals/Command/velocity_goal"
-                marker_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
-                self.base_vel_goal_visualizer = VisualizationMarkers(marker_cfg)
+                self.goal_vel_visualizer = VisualizationMarkers(self.cfg.goal_vel_visualizer_cfg)
                 # -- current
-                marker_cfg = BLUE_ARROW_X_MARKER_CFG.copy()
-                marker_cfg.prim_path = "/Visuals/Command/velocity_current"
-                marker_cfg.markers["arrow"].scale = (0.5, 0.5, 0.5)
-                self.base_vel_visualizer = VisualizationMarkers(marker_cfg)
+                self.current_vel_visualizer = VisualizationMarkers(self.cfg.current_vel_visualizer_cfg)
             # set their visibility to true
-            self.base_vel_goal_visualizer.set_visibility(True)
-            self.base_vel_visualizer.set_visibility(True)
+            self.goal_vel_visualizer.set_visibility(True)
+            self.current_vel_visualizer.set_visibility(True)
         else:
-            if hasattr(self, "base_vel_goal_visualizer"):
-                self.base_vel_goal_visualizer.set_visibility(False)
-                self.base_vel_visualizer.set_visibility(False)
+            if hasattr(self, "goal_vel_visualizer"):
+                self.goal_vel_visualizer.set_visibility(False)
+                self.current_vel_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # check if robot is initialized
@@ -180,8 +173,8 @@ class UniformVelocityCommand(CommandTerm):
         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])
         # display markers
-        self.base_vel_goal_visualizer.visualize(base_pos_w, vel_des_arrow_quat, vel_des_arrow_scale)
-        self.base_vel_visualizer.visualize(base_pos_w, vel_arrow_quat, vel_arrow_scale)
+        self.goal_vel_visualizer.visualize(base_pos_w, vel_des_arrow_quat, vel_des_arrow_scale)
+        self.current_vel_visualizer.visualize(base_pos_w, vel_arrow_quat, vel_arrow_scale)
 
     """
     Internal helpers.
@@ -190,7 +183,7 @@ class UniformVelocityCommand(CommandTerm):
     def _resolve_xy_velocity_to_arrow(self, xy_velocity: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor]:
         """Converts the XY base velocity command to arrow direction rotation."""
         # obtain default scale of the marker
-        default_scale = self.base_vel_goal_visualizer.cfg.markers["arrow"].scale
+        default_scale = self.goal_vel_visualizer.cfg.markers["arrow"].scale
         # arrow-scale
         arrow_scale = torch.tensor(default_scale, device=self.device).repeat(xy_velocity.shape[0], 1)
         arrow_scale[:, 0] *= torch.linalg.norm(xy_velocity, dim=1) * 3.0

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py

@@ -9,10 +9,10 @@ import torch
 
 import omni.isaac.lab.envs.mdp as mdp
 import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.managers import EventTermCfg as EventTerm
-from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.assets import Articulation, ArticulationCfg
 from omni.isaac.lab.envs import DirectRLEnv, DirectRLEnvCfg
+from omni.isaac.lab.managers import EventTermCfg as EventTerm
+from omni.isaac.lab.managers import SceneEntityCfg
 from omni.isaac.lab.scene import InteractiveSceneCfg
 from omni.isaac.lab.sensors import ContactSensor, ContactSensorCfg, RayCaster, RayCasterCfg, patterns
 from omni.isaac.lab.sim import SimulationCfg

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/mdp/commands/commands_cfg.py

@@ -55,7 +55,7 @@ class InHandReOrientationCommandCfg(CommandTermCfg):
     Otherwise, the marker may occlude the object in the visualization.
     """
 
-    visualizer_cfg: VisualizationMarkersCfg = VisualizationMarkersCfg(
+    goal_pose_visualizer_cfg: VisualizationMarkersCfg = VisualizationMarkersCfg(
         prim_path="/Visuals/Command/goal_marker",
         markers={
             "goal": sim_utils.UsdFileCfg(
@@ -64,4 +64,4 @@ class InHandReOrientationCommandCfg(CommandTermCfg):
             ),
         },
     )
-    """Configuration for the visualization markers. Default is a cube marker."""
+    """The configuration for the goal pose visualization marker. Defaults to a DexCube marker."""

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/mdp/commands/orientation_command.py

@@ -128,17 +128,17 @@ class InHandReOrientationCommand(CommandTerm):
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
             # create markers if necessary for the first time
-            if not hasattr(self, "goal_marker_visualizer"):
-                self.goal_marker_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
+            if not hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)
             # set visibility
-            self.goal_marker_visualizer.set_visibility(True)
+            self.goal_pose_visualizer.set_visibility(True)
         else:
-            if hasattr(self, "goal_marker_visualizer"):
-                self.goal_marker_visualizer.set_visibility(False)
+            if hasattr(self, "goal_pose_visualizer"):
+                self.goal_pose_visualizer.set_visibility(False)
 
     def _debug_vis_callback(self, event):
         # add an offset to the marker position to visualize the goal
         marker_pos = self.pos_command_w + torch.tensor(self.cfg.marker_pos_offset, device=self.device)
         marker_quat = self.quat_command_w
         # visualize the goal marker
-        self.goal_marker_visualizer.visualize(translations=marker_pos, orientations=marker_quat)
+        self.goal_pose_visualizer.visualize(translations=marker_pos, orientations=marker_quat)