Fixes the visualization markers to use the SpawnerCfg class (#162)

# Description

* This MR fixes the `VisualizationMarkers` class to use the
`SpawnerCfg`. This makes it consistent with how assets are spawned and
allows more variations.
* The markers also support instanceable meshes. This is done by
disabling their instancing (as PointInstancer does not support
pre-instanced assets) and removing any rigid body APIs from the asset.

Fixes #144 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Screenshots

https://github.com/isaac-orbit/orbit/assets/12863862/9d1b095b-99ee-4759-ba30-6175cc3b7d78

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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

.vscode/tools/settings.template.json

@@ -50,7 +50,8 @@
         "downsampled",
         "arange",
         "discretization",
-        "trimesh"
+        "trimesh",
+        "uninstanceable"
     ],
     // This enables python language server. Seems to work slightly better than jedi:
     "python.languageServer": "Pylance",

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.6"
+version = "0.9.7"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.9.7 (2023-09-26)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Modified the :class:`omni.isaac.orbit.markers.VisualizationMarkers` to use the
+  :class:`omni.isaac.orbit.sim.spawner.SpawnerCfg` class instead of their
+  own configuration objects. This makes it consistent with the other ways to spawn assets in the scene.
+
+Added
+^^^^^
+
+* Added the method :meth:`copy` to configclass to allow copying of configuration objects.
+
+
 0.9.6 (2023-09-26)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py

@@ -123,9 +123,9 @@ class TerrainBasedPositionCommandGenerator(CommandGeneratorBase):
     def _debug_vis_impl(self):
         # create the box marker if necessary
         if self.box_goal_visualizer is None:
-            marker_cfg = CUBOID_MARKER_CFG
-            marker_cfg.markers["cuboid"].color = (1.0, 0.0, 0.0)
+            marker_cfg = CUBOID_MARKER_CFG.copy()
+            marker_cfg.prim_path = "/Visuals/Command/position_goal"
             marker_cfg.markers["cuboid"].scale = (0.1, 0.1, 0.1)
-            self.box_goal_visualizer = VisualizationMarkers("/Visuals/Command/position_goal", marker_cfg)
+            self.box_goal_visualizer = VisualizationMarkers(marker_cfg)
         # update the box marker
         self.box_goal_visualizer.visualize(self.pos_command_w)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py

@@ -13,7 +13,7 @@ from typing import TYPE_CHECKING, Sequence
 import omni.isaac.orbit.utils.math as math_utils
 from omni.isaac.orbit.assets import Articulation
 from omni.isaac.orbit.markers import VisualizationMarkers
-from omni.isaac.orbit.markers.config import ARROW_X_MARKER_CFG
+from omni.isaac.orbit.markers.config import BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
 
 from .command_generator_base import CommandGeneratorBase
 
@@ -163,16 +163,16 @@ class UniformVelocityCommandGenerator(CommandGeneratorBase):
         # create markers if necessary
         # -- goal
         if self.base_vel_goal_visualizer is None:
-            marker_cfg = ARROW_X_MARKER_CFG
-            marker_cfg.markers["arrow"].color = (0.0, 1.0, 0.0)
+            marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
+            marker_cfg.prim_path = "/Visuals/Command/velocity_goal"
             marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
-            self.base_vel_goal_visualizer = VisualizationMarkers("/Visuals/Command/velocity_goal", marker_cfg)
+            self.base_vel_goal_visualizer = VisualizationMarkers(marker_cfg)
         # -- current
         if self.base_vel_visualizer is None:
-            marker_cfg = ARROW_X_MARKER_CFG
-            marker_cfg.markers["arrow"].color = (0.0, 0.0, 1.0)
+            marker_cfg = BLUE_ARROW_X_MARKER_CFG.copy()
+            marker_cfg.prim_path = "/Visuals/Command/velocity_current"
             marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
-            self.base_vel_visualizer = VisualizationMarkers("/Visuals/Command/velocity_current", marker_cfg)
+            self.base_vel_visualizer = VisualizationMarkers(marker_cfg)
         # get marker location
         # -- base state
         base_pos_w = self.robot.data.root_pos_w.clone()

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/__init__.py

@@ -24,6 +24,7 @@ Currently, the module provides the following classes:
 
 from __future__ import annotations
 
+from .config import *  # noqa: F401, F403
 from .visualization_markers import VisualizationMarkers, VisualizationMarkersCfg
 
 __all__ = ["VisualizationMarkersCfg", "VisualizationMarkers"]

source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 from __future__ import annotations
 
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.markers.visualization_markers import VisualizationMarkersCfg
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
-from ..visualization_markers import VisualizationMarkersCfg
+##
+# Sensors.
+##
 
-FRAME_MARKER_CFG = VisualizationMarkersCfg(
+RAY_CASTER_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "frame": VisualizationMarkersCfg.FileMarkerCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/frame_prim.usd",
-            scale=(0.5, 0.5, 0.5),
-        )
+        "hit": sim_utils.SphereCfg(
+            radius=0.02,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+        ),
     }
 )
-"""Configuration for the frame marker."""
+"""Configuration for the ray-caster marker."""
 
-POSITION_GOAL_MARKER_CFG = VisualizationMarkersCfg(
+
+CONTACT_SENSOR_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "target_far": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Sphere",
-            color=(1.0, 0.0, 0.0),
-            attributes={"radius": 0.01},
+        "contact": sim_utils.SphereCfg(
+            radius=0.02,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
         ),
-        "target_near": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Sphere",
-            color=(0.0, 1.0, 0.0),
-            attributes={"radius": 0.01},
-        ),
-        "target_invisible": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Sphere",
-            color=(0.0, 0.0, 1.0),
-            attributes={"radius": 0.01},
+        "no_contact": sim_utils.SphereCfg(
+            radius=0.02,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
             visible=False,
         ),
-    }
+    },
 )
-"""Configuration for the end-effector tracking marker."""
+"""Configuration for the contact sensor marker."""
 
-RAY_CASTER_MARKER_CFG = VisualizationMarkersCfg(
+
+##
+# Frames.
+##
+
+FRAME_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "hit": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Sphere",
-            color=(1.0, 0.0, 0.0),
-            attributes={"radius": 0.02},
-        ),
-    },
+        "frame": sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/frame_prim.usd",
+            scale=(0.5, 0.5, 0.5),
+        )
+    }
 )
-"""Configuration for the ray-caster marker."""
+"""Configuration for the frame marker."""
 
 
-CONTACT_SENSOR_MARKER_CFG = VisualizationMarkersCfg(
+RED_ARROW_X_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "contact": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Sphere",
-            color=(1.0, 0.0, 0.0),
-            attributes={"radius": 0.02},
-        ),
-        "no_contact": VisualizationMarkersCfg.MarkerCfg(
-            visible=False,
-            prim_type="Sphere",
-            color=(0.0, 1.0, 0.0),
-            attributes={"radius": 0.02},
-        ),
-    },
+        "arrow": sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd",
+            scale=(1.0, 0.1, 0.1),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+        )
+    }
 )
-"""Configuration for the contact sensor marker."""
+"""Configuration for the red arrow marker (along x-direction)."""
 
 
-ARROW_X_MARKER_CFG = VisualizationMarkersCfg(
+BLUE_ARROW_X_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "arrow": VisualizationMarkersCfg.FileMarkerCfg(
+        "arrow": sim_utils.UsdFileCfg(
             usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd",
-            scale=[1.0, 0.1, 0.1],
+            scale=(1.0, 0.1, 0.1),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
         )
     }
 )
-"""Configuration for the arrow marker (along x-direction)."""
+"""Configuration for the blue arrow marker (along x-direction)."""
 
-CUBOID_MARKER_CFG = VisualizationMarkersCfg(
+GREEN_ARROW_X_MARKER_CFG = VisualizationMarkersCfg(
     markers={
-        "cuboid": VisualizationMarkersCfg.MarkerCfg(
-            prim_type="Cube",
+        "arrow": sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd",
+            scale=(1.0, 0.1, 0.1),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
         )
     }
 )
+"""Configuration for the green arrow marker (along x-direction)."""
+
+
+##
+# Goals.
+##
+
+CUBOID_MARKER_CFG = VisualizationMarkersCfg(
+    markers={
+        "cuboid": sim_utils.CuboidCfg(
+            size=(0.1, 0.1, 0.1),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+        ),
+    }
+)
 """Configuration for the cuboid marker."""
+
+POSITION_GOAL_MARKER_CFG = VisualizationMarkersCfg(
+    markers={
+        "target_far": sim_utils.SphereCfg(
+            radius=0.01,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+        ),
+        "target_near": sim_utils.SphereCfg(
+            radius=0.01,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
+        ),
+        "target_invisible": sim_utils.SphereCfg(
+            radius=0.01,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
+            visible=False,
+        ),
+    }
+)
+"""Configuration for the end-effector tracking marker."""

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

@@ -21,16 +21,15 @@ from __future__ import annotations
 import numpy as np
 import torch
 from dataclasses import MISSING
-from typing import Any
 
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
-from omni.isaac.core.materials import PreviewSurface
-from omni.isaac.core.prims import GeometryPrim
+import omni.physx.scripts.utils as physx_utils
 from pxr import Gf, Sdf, UsdGeom, Vt
 
-from omni.isaac.orbit.utils.assets import check_file_path
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.sim.spawners import SpawnerCfg
 from omni.isaac.orbit.utils.configclass import configclass
 from omni.isaac.orbit.utils.math import convert_quat
 
@@ -39,39 +38,10 @@ from omni.isaac.orbit.utils.math import convert_quat
 class VisualizationMarkersCfg:
     """A class to configure a :class:`VisualizationMarkers`."""
 
-    @configclass
-    class MarkerCfg:
-        """A class to configure a marker prototype prim."""
+    prim_path: str = MISSING
+    """The prim path where the :class:`UsdGeom.PointInstancer` will be created."""
 
-        visible: bool = True
-        """The visibility of the marker. Defaults to True."""
-        prim_type: str = MISSING
-        """The prim type of the marker.
-
-        This can be any valid USD prim type, such as "Sphere" or "Cone".
-        """
-        scale: list[float] | None = None
-        """The scale of the marker. Defaults to None."""
-        color: list[float] | None = None
-        """The RGB color of the marker. Defaults to None.
-
-        If not :obj:`None`, the marker will be colored with the given color. The color is
-        applied to the material of the marker prim with a preview surface shader that has a
-        precedence over any existing material on the prim.
-        """
-        attributes: dict[str, Any] | None = None
-        """The attributes of the marker. Defaults to None."""
-
-    @configclass
-    class FileMarkerCfg(MarkerCfg):
-        """A class to configure a marker prototype prim from a USD file."""
-
-        prim_type: str = "Xform"
-        """The prim type of the marker. Defaults to "Xform"."""
-        usd_path: str = MISSING
-        """The path to the USD file of the marker."""
-
-    markers: dict[str, MarkerCfg] = MISSING
+    markers: dict[str, SpawnerCfg] = MISSING
     """The dictionary of marker configurations.
 
     The key is the name of the marker, and the value is the configuration of the marker.
@@ -110,27 +80,28 @@ class VisualizationMarkers:
 
         .. code-block:: python
 
+            import omni.isaac.orbit.sim as sim_utils
             from omni.isaac.orbit.markers import VisualizationMarkersCfg, VisualizationMarkers
 
             # Create the markers configuration
             # This creates two marker prototypes, "marker1" and "marker2" which are spheres with a radius of 1.0.
             # The color of "marker1" is red and the color of "marker2" is green.
             cfg = VisualizationMarkersCfg(
+                prim_path="/World/Visuals/testMarkers",
                 markers={
-                    "marker1": VisualizationMarkersCfg.MarkerCfg(
-                        prim_type="Sphere",
-                        attributes={"radius": 1.0},
-                        color=(1.0, 0.0, 0.0),
+                    "marker1": sim_utils.SphereCfg(
+                        radius=1.0,
+                        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+                    ),
+                    "marker2": VisualizationMarkersCfg.SphereCfg(
+                        radius=1.0,
+                        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
                     ),
-                    "marker2": VisualizationMarkersCfg.MarkerCfg(
-                        prim_type="Sphere",
-                        attributes={"radius": 1.0},
-                        color=(0.0, 1.0, 0.0),
                 }
             )
             # Create the markers instance
             # This will create a UsdGeom.PointInstancer prim at the given path along with the marker prototypes.
-            marker = VisualizationMarkers("/World/Visuals/testMarkers", cfg)
+            marker = VisualizationMarkers(cfg)
 
             # Set position of the marker
             # -- randomly sample translations between -1.0 and 1.0
@@ -155,21 +126,24 @@ class VisualizationMarkers:
 
     """
 
-    def __init__(self, prim_path: str, cfg: VisualizationMarkersCfg):
+    def __init__(self, cfg: VisualizationMarkersCfg):
         """Initialize the class.
 
         When the class is initialized, the :class:`UsdGeom.PointInstancer` is created into the stage
         and the marker prims are registered into it.
 
+        .. note::
+            If a prim already exists at the given path, the function will find the next free path
+            and create the :class:`UsdGeom.PointInstancer` prim there.
+
         Args:
-            prim_path: The prim path where the PointInstancer will be created.
             cfg: The configuration for the markers.
 
         Raises:
             ValueError: When no markers are provided in the :obj:`cfg`.
         """
         # get next free path for the prim
-        prim_path = stage_utils.get_next_free_path(prim_path)
+        prim_path = stage_utils.get_next_free_path(cfg.prim_path)
         # create a new prim
         prim = prim_utils.define_prim(prim_path, "PointInstancer")
         self._instancer_manager = UsdGeom.PointInstancer(prim)
@@ -189,11 +163,7 @@ class VisualizationMarkers:
         self._count = 1
 
     def __str__(self) -> str:
-        """Return a string representation of the class.
-
-        Returns:
-            A string representation of the class.
-        """
+        """Return: A string representation of the class."""
         msg = f"VisualizationMarkers(prim_path={self.prim_path})"
         msg += f"\n\tCount: {self.count}"
         msg += f"\n\tNumber of prototypes: {self.num_prototypes}"
@@ -368,40 +338,19 @@ class VisualizationMarkers:
     Helper functions.
     """
 
-    def _add_markers_prototypes(self, markers_cfg: dict[str, VisualizationMarkersCfg.MarkerCfg]):
+    def _add_markers_prototypes(self, markers_cfg: dict[str, sim_utils.SpawnerCfg]):
         """Adds markers prototypes to the scene and sets the markers instancer to use them."""
         # add markers based on config
         for name, cfg in markers_cfg.items():
-            # handle basic marker config
-            # if it is a file marker, check if the file exists
-            # if it is a prim marker, check that prim type is not Xform since that is an empty prim!
-            if not isinstance(cfg, VisualizationMarkersCfg.FileMarkerCfg):
-                # check if prim type is valid
-                if cfg.prim_type == "Xform":
-                    raise ValueError("Please use `FileMarkerCfg` for `prim_type` of `Xform`.")
-                # set usd path as None
-                usd_path = None
-            else:
-                # check if the file exists
-                if not check_file_path(cfg.usd_path):
-                    raise FileNotFoundError(f"USD file for the marker not found at: {cfg.usd_path}")
-                # make sure user doesn't override the prim type
-                if cfg.prim_type != "Xform":
-                    raise ValueError(
-                        f"Please use `prim_type` of `Xform` for `FileMarkerCfg`. Received: {cfg.prim_type}."
-                    )
-                # set usd path
-                usd_path = cfg.usd_path
             # resolve prim path
             marker_prim_path = f"{self.prim_path}/{name}"
             # create a child prim for the marker
-            prim = prim_utils.create_prim(
-                prim_path=marker_prim_path,
-                prim_type=cfg.prim_type,
-                usd_path=usd_path,
-                scale=cfg.scale,
-                attributes=cfg.attributes,
-            )
+            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.
+            sim_utils.make_uninstanceable(marker_prim_path)
+            # remove any physics on the markers because they are only for visualization!
+            physx_utils.removeRigidBodySubtree(prim)
             # make marker invisible to secondary rays
             omni.kit.commands.execute(
                 "ChangePropertyCommand",
@@ -410,12 +359,5 @@ class VisualizationMarkers:
                 prev=None,
                 type_to_create_if_not_exist=Sdf.ValueTypeNames.Bool,
             )
-            # set visibility
-            prim_utils.set_prim_visibility(prim, visible=cfg.visible)
-            # create color attribute
-            if cfg.color is not None:
-                geom_prim = GeometryPrim(marker_prim_path)
-                material = PreviewSurface(f"{marker_prim_path}/material", color=np.asarray(cfg.color))
-                geom_prim.apply_visual_material(material, weaker_than_descendants=False)
             # add child reference to point instancer
             self._instancer_manager.GetPrototypesRel().AddTarget(marker_prim_path)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py

@@ -71,7 +71,7 @@ class CameraCfg(SensorBaseCfg):
     type “class” will be retrieved.
 
     More information available at:
-        https://docs.omniverse.nvidia.com/app_code/prod_extensions/ext_replicator/semantic_schema_editor.html
+        https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering
     """
 
     colorize: bool = False

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py

@@ -269,7 +269,8 @@ class ContactSensor(SensorBase):
     def _debug_vis_impl(self):
         # visualize the contacts
         if self.contact_visualizer is None:
-            self.contact_visualizer = VisualizationMarkers("/Visuals/ContactSensor", cfg=CONTACT_SENSOR_MARKER_CFG)
+            visualizer_cfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")
+            self.contact_visualizer = VisualizationMarkers(visualizer_cfg)
         # marker indices
         # 0: contact, 1: no contact
         net_contact_force_w = torch.norm(self._data.net_forces_w, dim=-1)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py

@@ -211,6 +211,7 @@ class RayCaster(SensorBase):
     def _debug_vis_impl(self):
         # visualize the point hits
         if self.ray_visualizer is None:
-            self.ray_visualizer = VisualizationMarkers("/Visuals/RayCaster", cfg=RAY_CASTER_MARKER_CFG)
+            visualizer_cfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/RayCaster")
+            self.ray_visualizer = VisualizationMarkers(visualizer_cfg)
         # check if prim is visualized
         self.ray_visualizer.visualize(self._data.ray_hits_w.view(-1, 3))

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/loaders/urdf_loader.py

@@ -14,6 +14,7 @@ from datetime import datetime
 import omni.kit.commands
 from omni.isaac.urdf import _urdf as omni_urdf
 
+from omni.isaac.orbit.utils.assets import check_file_path
 from omni.isaac.orbit.utils.io import dump_yaml
 
 from .urdf_loader_cfg import UrdfLoaderCfg
@@ -73,7 +74,7 @@ class UrdfLoader:
             ValueError: When provided URDF file does not exist.
         """
         # check if the urdf file exists
-        if not os.path.isfile(cfg.urdf_path):
+        if not check_file_path(cfg.urdf_path):
             raise ValueError(f"The URDF path does not exist: ({cfg.urdf_path})!")
 
         # resolve USD directory name

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/schemas/schemas.py

@@ -384,6 +384,11 @@ def modify_mass_properties(prim_path: str, cfg: schemas_cfg.MassPropertiesCfg, s
     return True
 
 
+"""
+Contact sensor.
+"""
+
+
 def activate_contact_sensors(prim_path: str, threshold: float = 0.0, stage: Usd.Stage = None):
     """Activate the contact sensor on all rigid bodies under a specified prim path.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py

@@ -13,7 +13,8 @@ import omni.kit.commands
 from pxr import Gf, Sdf, Usd
 
 from omni.isaac.orbit.sim import loaders, schemas
-from omni.isaac.orbit.sim.utils import bind_physics_material, clone
+from omni.isaac.orbit.sim.utils import bind_physics_material, bind_visual_material, clone
+from omni.isaac.orbit.utils.assets import check_file_path
 
 if TYPE_CHECKING:
     from . import from_files_cfg
@@ -25,7 +26,6 @@ def spawn_from_usd(
     cfg: from_files_cfg.UsdFileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
-    scale: tuple[float, float, float] | None = None,
 ) -> Usd.Prim:
     """Spawn an asset from a USD file and override the settings with the given config.
 
@@ -45,16 +45,19 @@ def spawn_from_usd(
         prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
             then the asset is spawned at all the matching prim paths.
         cfg: The configuration instance.
-        translation: The translation to apply to the prim
-            w.r.t. its parent prim. Defaults to None.
-        orientation: The orientation in (w, x, y, z) to apply to
-            the prim w.r.t. its parent prim. Defaults to None.
-        scale: The scale of the imported prim. Defaults to None.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
 
     Returns:
         The prim of the spawned asset.
+
+    Raises:
+        FileNotFoundError: If the USD file does not exist at the given path.
     """
-    # -- spawn asset if it doesn't exist.
+    # check file path exists
+    if not check_file_path(cfg.usd_path):
+        raise FileNotFoundError(f"USD file not found at path: '{cfg.usd_path}'.")
+    # spawn asset if it doesn't exist.
     if not prim_utils.is_prim_path_valid(prim_path):
         # add prim as reference to stage
         prim_utils.create_prim(
@@ -62,7 +65,7 @@ def spawn_from_usd(
             usd_path=cfg.usd_path,
             translation=translation,
             orientation=orientation,
-            scale=scale,
+            scale=cfg.scale,
         )
     else:
         carb.log_warn(f"A prim already exists at prim path: '{prim_path}'.")
@@ -76,6 +79,16 @@ def spawn_from_usd(
     # modify articulation root properties
     if cfg.articulation_props is not None:
         schemas.modify_articulation_root_properties(prim_path, cfg.articulation_props)
+    # apply visual material
+    if cfg.visual_material is not None:
+        if not cfg.visual_material_path.startswith("/"):
+            material_path = f"{prim_path}/{cfg.visual_material_path}"
+        else:
+            material_path = cfg.visual_material_path
+        # create material
+        cfg.visual_material.func(material_path, cfg.visual_material)
+        # apply material
+        bind_visual_material(prim_path, material_path)
     # return the prim
     return prim_utils.get_prim_at_path(prim_path)
 
@@ -86,7 +99,6 @@ def spawn_from_urdf(
     cfg: from_files_cfg.UrdfFileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
-    scale: tuple[float, float, float] | None = None,
 ) -> Usd.Prim:
     """Spawn an asset from a URDF file and override the settings with the given config.
 
@@ -108,12 +120,14 @@ def spawn_from_urdf(
         cfg: The configuration instance.
         translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None.
-        scale: The scale of the imported prim. Defaults to None.
 
     Returns:
         The prim of the spawned asset.
+
+    Raises:
+        FileNotFoundError: If the URDF file does not exist at the given path.
     """
-    # -- spawn asset if it doesn't exist.
+    # spawn asset if it doesn't exist.
     if not prim_utils.is_prim_path_valid(prim_path):
         # urdf loader
         urdf_loader = loaders.UrdfLoader(cfg)
@@ -123,7 +137,7 @@ def spawn_from_urdf(
             usd_path=urdf_loader.usd_path,
             translation=translation,
             orientation=orientation,
-            scale=scale,
+            scale=cfg.scale,
         )
     else:
         carb.log_warn(f"A prim already exists at prim path: '{prim_path}'. Skipping...")
@@ -137,6 +151,16 @@ def spawn_from_urdf(
     # modify articulation root properties
     if cfg.articulation_props is not None:
         schemas.modify_articulation_root_properties(prim_path, cfg.articulation_props)
+    # apply visual material
+    if cfg.visual_material is not None:
+        if not cfg.visual_material_path.startswith("/"):
+            material_path = f"{prim_path}/{cfg.visual_material_path}"
+        else:
+            material_path = cfg.visual_material_path
+        # create material
+        cfg.visual_material.func(material_path, cfg.visual_material)
+        # apply material
+        bind_visual_material(prim_path, material_path)
     # return the prim
     return prim_utils.get_prim_at_path(prim_path)
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py

@@ -8,9 +8,9 @@ from __future__ import annotations
 from dataclasses import MISSING
 from typing import Callable
 
-from omni.isaac.orbit.sim import loaders
+from omni.isaac.orbit.sim import loaders, schemas
 from omni.isaac.orbit.sim.spawners import materials
-from omni.isaac.orbit.sim.spawners.spawner_cfg import ArticulationSpawnerCfg, SpawnerCfg
+from omni.isaac.orbit.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg
 from omni.isaac.orbit.utils import configclass
 from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 
@@ -18,7 +18,37 @@ from . import from_files
 
 
 @configclass
-class UsdFileCfg(ArticulationSpawnerCfg):
+class FileCfg(RigidObjectSpawnerCfg):
+    """Configuration parameters for spawning an asset from a file.
+
+    Note:
+        By default, all properties are set to None. This means that no properties will be added or modified
+        to the prim outside of the properties available by default when spawning the prim.
+    """
+
+    scale: tuple[float, float, float] | None = None
+    """Scale of the asset. Defaults to None, in which case the scale is not modified."""
+
+    articulation_props: schemas.ArticulationPropertiesCfg | None = None
+    """Properties to apply to the articulation root."""
+
+    visual_material_path: str = "material"
+    """Path to the visual material to use for the prim. Defaults to "material".
+
+    If the path is relative, then it will be relative to the prim's path.
+    This parameter is ignored if `visual_material` is not None.
+    """
+
+    visual_material: materials.VisualMaterialCfg | None = None
+    """Visual material properties to override the visual material properties in the URDF file.
+
+    Note:
+        If None, then no visual material will be added.
+    """
+
+
+@configclass
+class UsdFileCfg(FileCfg):
     """USD file to spawn asset from.
 
     See :meth:`spawn_from_usd` for more information.
@@ -35,7 +65,7 @@ class UsdFileCfg(ArticulationSpawnerCfg):
 
 
 @configclass
-class UrdfFileCfg(ArticulationSpawnerCfg, loaders.UrdfLoaderCfg):
+class UrdfFileCfg(FileCfg, loaders.UrdfLoaderCfg):
     """URDF file to spawn asset from.
 
     It uses the :class:`UrdfLoader` class to create a USD file from URDF and spawns the imported

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py

@@ -8,9 +8,10 @@ from __future__ import annotations
 from dataclasses import MISSING
 from typing import Callable
 
-from omni.isaac.orbit.utils import configclass
+from pxr import Usd
 
-from .. import schemas
+from omni.isaac.orbit.sim import schemas
+from omni.isaac.orbit.utils import configclass
 
 
 @configclass
@@ -27,8 +28,15 @@ class SpawnerCfg:
     parameter.
     """
 
-    func: Callable = MISSING
-    """Function to use for spawning the asset."""
+    func: Callable[..., Usd.Prim] = MISSING
+    """Function to use for spawning the asset.
+
+    The function takes in the prim path (or expression) to spawn the asset at, the configuration instance
+    and transformation, and returns the source prim spawned.
+    """
+
+    visible: bool = True
+    """Whether the spawned asset should be visible. Defaults to True."""
 
     copy_from_source: bool = True
     """Whether to copy the asset from the source prim or inherit it. Defaults to True.
@@ -58,21 +66,9 @@ class RigidObjectSpawnerCfg(SpawnerCfg):
     """Rigid body properties."""
     collision_props: schemas.CollisionPropertiesCfg | None = None
     """Properties to apply to all collision meshes."""
+
     activate_contact_sensors: bool = False
     """Activate contact reporting on all rigid bodies. Defaults to False.
 
     This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.
     """
-
-
-@configclass
-class ArticulationSpawnerCfg(RigidObjectSpawnerCfg):
-    """Configuration parameters for spawning an articulation asset.
-
-    Note:
-        By default, all properties are set to None. This means that no properties will be added or modified
-        to the prim outside of the properties available by default when spawning the prim.
-    """
-
-    articulation_props: schemas.ArticulationPropertiesCfg | None = None
-    """Properties to apply to the articulation root."""

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

@@ -130,16 +130,20 @@ def apply_nested(func: Callable) -> Callable:
 
     Args:
         func: The function to apply to all prims under a specified prim-path. The function
-            must take the prim-path, the configuration object and the stage as inputs. It should return
-            a boolean indicating whether the function succeeded or not.
+            must take the prim-path and other arguments. It should return a boolean indicating whether
+            the function succeeded or not.
 
     Returns:
         The wrapped function that applies the function to all prims under a specified prim-path.
+
+    Raises:
+        ValueError: If the prim-path does not exist on the stage.
     """
 
     @functools.wraps(func)
-    def wrapper(prim_path: str, cfg: object, stage: Usd.Stage | None = None, **kwargs):
+    def wrapper(prim_path: str, *args, **kwargs):
         # get current stage
+        stage = kwargs.get("stage")
         if stage is None:
             stage = stage_utils.get_current_stage()
         # get USD prim
@@ -160,7 +164,7 @@ def apply_nested(func: Callable) -> Callable:
                 carb.log_warn(f"Cannot perform '{func.__name__}' on instanced prim: '{child_prim_path}'")
                 continue
             # set properties
-            success = func(child_prim_path, cfg, stage=stage, **kwargs)
+            success = func(child_prim_path, *args, **kwargs)
             # if successful, do not look at children
             # this is based on the physics behavior that nested schemas are not allowed
             if not success:
@@ -186,7 +190,7 @@ def clone(func: Callable) -> Callable:
 
     Returns:
         The decorated function that spawns the prim and clones it at each matching prim path.
-            It returns the spawned prim.
+        It returns the spawned source prim, i.e., the first prim in the list of matching prim paths.
     """
 
     @functools.wraps(func)
@@ -213,6 +217,9 @@ def clone(func: Callable) -> Callable:
         prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths]
         # spawn single instance
         prim = func(prim_paths[0], cfg, *args, **kwargs)
+        # set the prim visibility
+        if hasattr(cfg, "visible"):
+            prim_utils.set_prim_visibility(prim, cfg.visible)
         # activate rigid body contact sensors
         if hasattr(cfg, "activate_contact_sensors") and cfg.activate_contact_sensors:
             schemas.activate_contact_sensors(prim_paths[0], cfg.activate_contact_sensors)
@@ -255,8 +262,8 @@ def bind_visual_material(
     Args:
         prim_path: The prim path where to apply the material.
         material_path: The prim path of the material to apply.
-        stage: The stage where the prim and material exist. Defaults to None,
-            in which case the current stage is used.
+        stage: The stage where the prim and material exist.
+            Defaults to None, in which case the current stage is used.
         stronger_than_descendants: Whether the material should override the material of its descendants.
             Defaults to True.
 
@@ -309,8 +316,8 @@ def bind_physics_material(
     Args:
         prim_path: The prim path where to apply the material.
         material_path: The prim path of the material to apply.
-        stage: The stage where the prim and material exist. Defaults to None,
-            in which case the current stage is used.
+        stage: The stage where the prim and material exist.
+            Defaults to None, in which case the current stage is used.
         stronger_than_descendants: Whether the material should override the material of its descendants.
             Defaults to True.
 
@@ -355,3 +362,43 @@ def bind_physics_material(
     material_binding_api.Bind(material, bindingStrength=binding_strength, materialPurpose="physics")  # type: ignore
     # return success
     return True
+
+
+"""
+USD Prim properties.
+"""
+
+
+def make_uninstanceable(prim_path: str, stage: Usd.Stage | None = None):
+    """Check if a prim and its descendants are instanced and make them uninstanceable.
+
+    This function checks if the prim at the specified prim path and its descendants are instanced.
+    If so, it makes the respective prim uninstanceable by disabling instancing on the prim.
+
+    This is useful when we want to modify the properties of a prim that is instanced. For example, if we
+    want to apply a different material on an instanced prim, we need to make the prim uninstanceable first.
+
+    Args:
+        prim_path: The prim path to check.
+        stage: The stage where the prim exists.
+            Defaults to None, in which case the current stage is used.
+    """
+    # get current stage
+    if stage is None:
+        stage = stage_utils.get_current_stage()
+    # get prim
+    prim: Usd.Prim = stage.GetPrimAtPath(prim_path)
+    # check if prim is valid
+    if not prim.IsValid():
+        raise ValueError(f"Prim at path '{prim_path}' is not valid.")
+    # iterate over all prims under prim-path
+    all_prims = [prim]
+    while len(all_prims) > 0:
+        # get current prim
+        child_prim = all_prims.pop(0)
+        # check if prim is instanced
+        if child_prim.IsInstance():
+            # make the prim uninstanceable
+            child_prim.SetInstanceable(False)
+        # add children to list
+        all_prims += child_prim.GetChildren()

source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py

@@ -80,7 +80,9 @@ class TerrainImporter:
         self.terrain_origins = None
         # marker for visualization
         if self.cfg.debug_vis:
-            self.origin_visualizer = VisualizationMarkers("/Visuals/TerrainOrigin", cfg=FRAME_MARKER_CFG)
+            self.origin_visualizer = VisualizationMarkers(
+                cfg=FRAME_MARKER_CFG.replace(prim_path="/Visuals/TerrainOrigin")
+            )
         else:
             self.origin_visualizer = None
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/configclass.py

@@ -16,7 +16,7 @@ from .dict import class_to_dict, update_class_from_dict
 __all__ = ["configclass"]
 
 
-_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace"]
+_CONFIGCLASS_METHODS = ["to_dict", "from_dict", "replace", "copy"]
 """List of class methods added at runtime to dataclass."""
 
 """
@@ -83,6 +83,7 @@ def configclass(cls, **kwargs):
     setattr(cls, "to_dict", _class_to_dict)
     setattr(cls, "from_dict", _update_class_from_dict)
     setattr(cls, "replace", _replace_class_with_kwargs)
+    setattr(cls, "copy", _copy_class)
     # wrap around dataclass
     cls = dataclass(cls, **kwargs)
     # return wrapped class
@@ -145,6 +146,11 @@ def _replace_class_with_kwargs(obj: object, **kwargs) -> object:
     return replace(obj, **kwargs)
 
 
+def _copy_class(obj: object) -> object:
+    """Return a new object with the same fields as the original."""
+    return replace(obj)
+
+
 """
 Private helper functions.
 """

source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py

@@ -22,8 +22,10 @@ import traceback
 import unittest
 
 import carb
+import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
 
+import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg
 from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
 from omni.isaac.orbit.utils.math import random_orientation
@@ -37,6 +39,8 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
         """Create a blank new stage for each test."""
         # Simulation time-step
         self.dt = 0.01
+        # Open a new stage
+        stage_utils.create_new_stage()
         # Load kit helper
         self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="torch", device="cuda:0")
 
@@ -44,19 +48,20 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
         """Stops simulator after each test."""
         # stop simulation
         self.sim.stop()
-        self.sim.clear()
+        # close stage
+        stage_utils.close_stage()
+        # clear the simulation context
+        self.sim.clear_instance()
 
     def test_instantiation(self):
         """Test that the class can be initialized properly."""
         config = VisualizationMarkersCfg(
+            prim_path="/World/Visuals/test",
             markers={
-                "test": VisualizationMarkersCfg.MarkerCfg(
-                    prim_type="Sphere",
-                    attributes={"radius": 1.0},
+                "test": sim_utils.SphereCfg(radius=1.0),
+            },
         )
-            }
-        )
-        test_marker = VisualizationMarkers("/World/Visuals/test", config)
+        test_marker = VisualizationMarkers(config)
         print(test_marker)
         # check number of markers
         self.assertEqual(test_marker.num_prototypes, 1)
@@ -64,7 +69,8 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
     def test_usd_marker(self):
         """Test with marker from a USD."""
         # create a marker
-        test_marker = VisualizationMarkers("/World/Visuals/test_frames", FRAME_MARKER_CFG)
+        config = FRAME_MARKER_CFG.replace(prim_path="/World/Visuals/test_frames")
+        test_marker = VisualizationMarkers(config)
 
         # play the simulation
         self.sim.reset()
@@ -87,8 +93,10 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
     def test_usd_marker_color(self):
         """Test with marker from a USD with its color modified."""
         # create a marker
-        FRAME_MARKER_CFG.markers["frame"].color = (0.0, 1.0, 0.0)
-        test_marker = VisualizationMarkers("/World/Visuals/test_frames", FRAME_MARKER_CFG)
+        config = FRAME_MARKER_CFG.copy()
+        config.prim_path = "/World/Visuals/test_frames"
+        config.markers["frame"].visual_material = sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0))
+        test_marker = VisualizationMarkers(config)
 
         # play the simulation
         self.sim.reset()
@@ -107,7 +115,8 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
     def test_multiple_prototypes_marker(self):
         """Test with multiple prototypes of spheres."""
         # create a marker
-        test_marker = VisualizationMarkers("/World/Visuals/test_protos", POSITION_GOAL_MARKER_CFG)
+        config = POSITION_GOAL_MARKER_CFG.replace(prim_path="/World/Visuals/test_protos")
+        test_marker = VisualizationMarkers(config)
 
         # play the simulation
         self.sim.reset()
@@ -128,7 +137,8 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
         """Test with time taken when number of prototypes is increased."""
 
         # create a marker
-        test_marker = VisualizationMarkers("/World/Visuals/test_protos", POSITION_GOAL_MARKER_CFG)
+        config = POSITION_GOAL_MARKER_CFG.replace(prim_path="/World/Visuals/test_protos")
+        test_marker = VisualizationMarkers(config)
 
         # play the simulation
         self.sim.reset()
@@ -160,7 +170,8 @@ class TestUsdVisualizationMarkers(unittest.TestCase):
         """Test with visibility of markers. When invisible, the visualize call should return."""
 
         # create a marker
-        test_marker = VisualizationMarkers("/World/Visuals/test_protos", POSITION_GOAL_MARKER_CFG)
+        config = POSITION_GOAL_MARKER_CFG.replace(prim_path="/World/Visuals/test_protos")
+        test_marker = VisualizationMarkers(config)
 
         # play the simulation
         self.sim.reset()

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py

@@ -66,10 +66,10 @@ class TerrainSceneCfg(InteractiveSceneCfg):
         offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
         attach_yaw_only=True,
         pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
-        debug_vis=False,
+        debug_vis=True,
         mesh_prim_paths=["/World/ground"],
     )
-    contact_forces = ContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, debug_vis=False)
+    contact_forces = ContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, debug_vis=True)
     # lights
     light = AssetBaseCfg(
         prim_path="/World/light",
@@ -274,7 +274,7 @@ class LocomotionEnvRoughCfg(RLEnvCfg):
         rel_standing_envs=0.02,
         rel_heading_envs=1.0,
         heading_command=True,
-        debug_vis=False,
+        debug_vis=True,
         ranges=UniformVelocityCommandGeneratorCfg.Ranges(
             lin_vel_x=(-1.0, 1.0), lin_vel_y=(-1.0, 1.0), ang_vel_z=(-1.0, 1.0), heading=(-math.pi, math.pi)
         ),

source/standalone/demo/play_markers.py

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This script demonstrates how to create different types of markers in Orbit."""
+
+from __future__ import annotations
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from omni.isaac.orbit.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(
+    description="This script demonstrates how to create different types of markers in Orbit."
+)
+parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+args_cli = parser.parse_args()
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import torch
+
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.markers import VisualizationMarkers, VisualizationMarkersCfg
+from omni.isaac.orbit.sim import SimulationContext
+from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
+from omni.isaac.orbit.utils.math import quat_from_angle_axis
+
+
+def main():
+    """Spawns lights in the stage and sets the camera view."""
+
+    # Load kit helper
+    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01, substeps=1))
+    # Set main camera
+    sim.set_camera_view([0.0, 17.0, 12.0], [0.0, 2.0, 0.0])
+
+    # Spawn things into stage
+    # Lights-1
+    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(0.75, 0.75, 0.75), radius=2.5)
+    cfg.func("/World/Light/greyLight", cfg, translation=(4.5, 3.5, 10.0))
+    # Lights-2
+    cfg = sim_utils.SphereLightCfg(intensity=600.0, color=(1.0, 1.0, 1.0), radius=2.5)
+    cfg.func("/World/Light/whiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
+
+    # Create markers with various different shapes
+    marker_cfg = VisualizationMarkersCfg(
+        prim_path="/Visuals/myMarkers",
+        markers={
+            "frame": sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/frame_prim.usd",
+                scale=(0.5, 0.5, 0.5),
+            ),
+            "arrow_x": sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd",
+                scale=(1.0, 0.5, 0.5),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 1.0)),
+            ),
+            "cube": sim_utils.CuboidCfg(
+                size=(1.0, 1.0, 1.0),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
+            ),
+            "sphere": sim_utils.SphereCfg(
+                radius=0.5,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
+            ),
+            "cylinder": sim_utils.CylinderCfg(
+                radius=0.5,
+                height=1.0,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
+            ),
+            "cone": sim_utils.ConeCfg(
+                radius=0.5,
+                height=1.0,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 0.0)),
+            ),
+            "mesh": sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+                scale=(10.0, 10.0, 10.0),
+            ),
+            "mesh_recolored": sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
+                scale=(10.0, 10.0, 10.0),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)),
+            ),
+        },
+    )
+    my_visualizer = VisualizationMarkers(marker_cfg)
+
+    # marker locations
+    num_marker_types = len(marker_cfg.markers)
+    num_markers_per_type = 5
+    grid_spacing = 2.0
+
+    # Calculate the half-width and half-height
+    half_width = (num_markers_per_type - 1) / 2.0
+    half_height = (num_marker_types - 1) / 2.0
+    # Create the x and y ranges centered around the origin
+    x_range = torch.arange(-half_width * grid_spacing, (half_width + 1) * grid_spacing, grid_spacing)
+    y_range = torch.arange(-half_height * grid_spacing, (half_height + 1) * grid_spacing, grid_spacing)
+    # Create the grid
+    x_grid, y_grid = torch.meshgrid(x_range, y_range, indexing="ij")
+    x_grid = x_grid.reshape(-1)
+    y_grid = y_grid.reshape(-1)
+    z_grid = torch.zeros_like(x_grid)
+    # marker locations
+    marker_locations = torch.stack([x_grid, y_grid, z_grid], dim=1)
+    marker_indices = torch.arange(num_marker_types).repeat(num_markers_per_type)
+
+    # Play the simulator
+    sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+
+    # Yaw angle
+    yaw = torch.zeros_like(marker_locations[:, 0])
+    # Simulate physics
+    while simulation_app.is_running():
+        # rotate the markers around the z-axis for visualization
+        marker_orientations = quat_from_angle_axis(yaw, torch.tensor([0.0, 0.0, 1.0]))
+        # visualize
+        my_visualizer.visualize(marker_locations, marker_orientations, marker_indices=marker_indices)
+        # perform step
+        sim.step()
+        # increment yaw
+        yaw += 0.01
+
+
+if __name__ == "__main__":
+    # Run empty stage
+    main()
+    # Close the simulator
+    simulation_app.close()