Adds images to showroom scripts documentation (#130)

# Description

This MR adds images to the showroom documentation page. It also modifies
the scripts to make sure the default camera placement is nice.

## Type of change

- This change requires a documentation update

## 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

docs/index.rst

@@ -87,8 +87,8 @@ Table of Contents
    source/overview/environments
    source/overview/reinforcement-learning/index
    source/overview/teleop_imitation
+   source/overview/showroom
    source/overview/basic_agents
-   source/overview/sample_scripts
 
 .. toctree::
    :maxdepth: 2

docs/source/overview/basic_agents.rst

-Basic Agents
-============
+Simple Agents
+=============
 
 Workflows
 ---------
@@ -28,7 +28,7 @@ The list of environments available registered with OpenAI Gym can be found by ru
 
          isaaclab.bat -p source\standalone\environments\list_envs.py
 
-Basic agents
+Dummy agents
 ~~~~~~~~~~~~
 
 These include basic agents that output zero or random agents. They are

docs/source/overview/sample_scripts.rst

-Showroom Demos
-==============
-
-The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides
-the main modules for actuators, objects, robots and sensors. We provide
-a list of demo scripts and tutorials. These showcase how to use the provided
-interfaces within a code in a minimal way.
-
-A few quick showroom scripts to run and checkout:
-
--  Spawn different quadrupeds and make robots stand using position commands:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/quadrupeds.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\quadrupeds.py
-
--  Spawn different arms and apply random joint position commands:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/arms.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\arms.py
-
--  Spawn different hands and command them to open and close:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/hands.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\hands.py
-
--  Spawn procedurally generated terrains with different configurations:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\procedural_terrain.py
-
--  Spawn different deformable (soft) bodies and let them fall from a height:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/deformables.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\deformables.py
-
--  Spawn multiple markers that are useful for visualizations:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code:: bash
-
-         ./isaaclab.sh -p source/standalone/demos/markers.py
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code:: batch
-
-         isaaclab.bat -p source\standalone\demos\markers.py

docs/source/overview/showroom.rst

+Showroom Demos
+==============
+
+The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides
+the main modules for actuators, objects, robots and sensors. We provide
+a list of demo scripts and tutorials. These showcase how to use the provided
+interfaces within a code in a minimal way.
+
+A few quick showroom scripts to run and checkout:
+
+-  Spawn different quadrupeds and make robots stand using position commands:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/quadrupeds.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\quadrupeds.py
+
+   .. image:: ../_static/demos/quadrupeds.jpg
+      :width: 100%
+      :alt: Quadrupeds in Isaac Lab
+
+-  Spawn different arms and apply random joint position commands:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/arms.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\arms.py
+
+   .. image:: ../_static/demos/arms.jpg
+      :width: 100%
+      :alt: Arms in Isaac Lab
+
+-  Spawn different hands and command them to open and close:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/hands.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\hands.py
+
+   .. image:: ../_static/demos/hands.jpg
+      :width: 100%
+      :alt: Dexterous hands in Isaac Lab
+
+-  Spawn procedurally generated terrains with different configurations:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\procedural_terrain.py
+
+   .. image:: ../_static/demos/procedural_terrain.jpg
+      :width: 100%
+      :alt: Procedural Terrains in Isaac Lab
+
+-  Spawn different deformable (soft) bodies and let them fall from a height:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/deformables.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\deformables.py
+
+   .. image:: ../_static/demos/deformables.jpg
+      :width: 100%
+      :alt: Deformable primitive-shaped objects in Isaac Lab
+
+-  Spawn multiple markers that are useful for visualizations:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/markers.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\markers.py
+
+   .. image:: ../_static/demos/markers.jpg
+      :width: 100%
+      :alt: Markers in Isaac Lab

docs/source/tutorials/01_assets/run_deformable_object.rst

@@ -167,9 +167,15 @@ from a height and settling on to the ground. Meanwhile the other two cubes must
 should see a marker showing the kinematic target position for the nodes at the bottom-left corner of the cubes.
 To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal
 
-This tutorial showed how to spawn rigid objects and wrap them in a :class:`DeformableObject` class to initialize their
-physics handles which allows setting and obtaining their state. In the next tutorial, we will see how to interact
-with an articulated object which is a collection of rigid objects connected by joints.
+.. figure:: ../../_static/tutorials/tutorial_run_deformable_object.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_deformable_object.py
+
+This tutorial showed how to spawn deformable objects and wrap them in a :class:`DeformableObject` class to initialize their
+physics handles which allows setting and obtaining their state. We also saw how to apply kinematic commands to the
+deformable object to move the mesh nodes in a controlled manner. In the next tutorial, we will see how to create
+a scene using the :class:`InteractiveScene` class.
 
 .. _PhysX documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html
 .. _partial kinematic: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies

source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py

@@ -345,12 +345,10 @@ class VisualizationMarkers:
             # resolve prim path
             marker_prim_path = f"{self.prim_path}/{name}"
             # create a child prim for the marker
-            prim = cfg.func(prim_path=marker_prim_path, cfg=cfg)
+            marker_prim = cfg.func(prim_path=marker_prim_path, cfg=cfg)
             # make the asset uninstanceable (in case it is)
             # point instancer defines its own prototypes so if an asset is already instanced, this doesn't work.
-            self._process_prototype_prim(prim)
-            # remove any physics on the markers because they are only for visualization!
-            physx_utils.removeRigidBodySubtree(prim)
+            self._process_prototype_prim(marker_prim)
             # add child reference to point instancer
             self._instancer_manager.GetPrototypesRel().AddTarget(marker_prim_path)
         # check that we loaded all the prototypes
@@ -407,3 +405,6 @@ class VisualizationMarkers:
                 )
             # add children to list
             all_prims += child_prim.GetChildren()
+
+        # remove any physics on the markers because they are only for visualization!
+        physx_utils.removeRigidBodySubtree(prim)

source/standalone/demos/bipeds.py

@@ -49,23 +49,25 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(device="cpu", dt=0.01))
+    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
     # Set main camera
-    sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
+    sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
 
     # Spawn things into stage
     # Ground-plane
     cfg = sim_utils.GroundPlaneCfg()
     cfg.func("/World/defaultGroundPlane", cfg)
     # Lights
-    cfg = sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
     cfg.func("/World/Light", cfg)
 
+    # Define origins
     origins = torch.tensor([
+        [0.0, -1.0, 0.0],
         [0.0, 0.0, 0.0],
         [0.0, 1.0, 0.0],
-        [0.0, 2.0, 0.0],
-    ])
+    ]).to(device=sim.device)
+
     # Robots
     cassie = Articulation(CASSIE_CFG.replace(prim_path="/World/Cassie"))
     h1 = Articulation(H1_CFG.replace(prim_path="/World/H1"))

source/standalone/demos/markers.py

@@ -82,7 +82,7 @@ def define_markers() -> VisualizationMarkers:
                 visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)),
             ),
             "robot_mesh": sim_utils.UsdFileCfg(
-                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
+                usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
                 scale=(2.0, 2.0, 2.0),
                 visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 0.1, 0.0)),
             ),

source/standalone/demos/procedural_terrain.py

@@ -156,7 +156,7 @@ def main():
     # Initialize the simulation context
     sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
     # Set main camera
-    sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
+    sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
     # design scene
     scene_entities, scene_origins = design_scene()
     # Play the simulator

source/standalone/demos/quadcopter.py

@@ -6,6 +6,11 @@
 """
 This script demonstrates how to simulate a quadcopter.
 
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p source/standalone/demos/quadcopter.py
+
 """
 
 """Launch Isaac Sim Simulator first."""
@@ -42,9 +47,9 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(device="cpu", dt=0.005))
+    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
     # Set main camera
-    sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])
+    sim.set_camera_view(eye=[0.5, 0.5, 1.0], target=[0.0, 0.0, 0.5])
 
     # Spawn things into stage
     # Ground-plane
@@ -55,11 +60,11 @@ def main():
     cfg.func("/World/Light", cfg)
 
     # Robots
-    robot_cfg = CRAZYFLIE_CFG
-    robot_cfg.spawn.func("/World/Crazyflie/Robot_1", robot_cfg.spawn, translation=(1.5, 0.5, 0.42))
+    robot_cfg = CRAZYFLIE_CFG.replace(prim_path="/World/Crazyflie")
+    robot_cfg.spawn.func("/World/Crazyflie", robot_cfg.spawn, translation=robot_cfg.init_state.pos)
 
     # create handles for the robots
-    robot = Articulation(robot_cfg.replace(prim_path="/World/Crazyflie/Robot.*"))
+    robot = Articulation(robot_cfg)
 
     # Play the simulator
     sim.reset()
@@ -92,7 +97,7 @@ def main():
             # reset command
             print(">>>>>>>> Reset!")
         # apply action to the robot (make the robot float in place)
-        forces = torch.zeros(1, 4, 3, device=sim.device)
+        forces = torch.zeros(robot.num_instances, 4, 3, device=sim.device)
         torques = torch.zeros_like(forces)
         forces[..., 2] = robot_mass * gravity / 4.0
         robot.set_external_force_and_torque(forces, torques, body_ids=prop_body_ids)