Fixes FrameTransformer sensor visualization implementation (#15)

# Description

This MR fixes:
- FrameTransformer crashing when `debug_vis` is set to true
- Hard-coding of visualization configs inside the sensor implementation

## 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
`./orbit.sh --format`
- [ ] 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.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.36"
+version = "0.9.37"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.9.37 (2023-11-06)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed broken visualization in :mod:`omni.isaac.orbit.sensors.FrameTramsformer` class by overwriting the
+  correct ``_debug_vis_callback`` function.
+* Moved the visualization marker configurations of sensors to their respective sensor configuration classes.
+  This allows users to set these configurations from the configuration object itself.
+
+
 0.9.36 (2023-11-03)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py

@@ -108,7 +108,7 @@ class AssetBase(ABC):
     def has_debug_vis_implementation(self) -> bool:
         """Whether the asset has a debug visualization implemented."""
         # check if function raises NotImplementedError
-        source_code = inspect.getsource(self._debug_vis_callback)
+        source_code = inspect.getsource(self._set_debug_vis_impl)
         return "NotImplementedError" not in source_code
 
     """

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

@@ -93,7 +93,7 @@ class CommandGeneratorBase(ABC):
     def has_debug_vis_implementation(self) -> bool:
         """Whether the command generator has a debug visualization implemented."""
         # check if function raises NotImplementedError
-        source_code = inspect.getsource(self._debug_vis_callback)
+        source_code = inspect.getsource(self._set_debug_vis_impl)
         return "NotImplementedError" not in source_code
 
     """

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

@@ -18,7 +18,6 @@ from pxr import PhysxSchema
 
 import omni.isaac.orbit.utils.string as string_utils
 from omni.isaac.orbit.markers import VisualizationMarkers
-from omni.isaac.orbit.markers.config import CONTACT_SENSOR_MARKER_CFG
 
 from ..sensor_base import SensorBase
 from .contact_sensor_data import ContactSensorData
@@ -280,8 +279,7 @@ class ContactSensor(SensorBase):
         if debug_vis:
             # create markers if necessary for the first tome
             if not hasattr(self, "contact_visualizer"):
-                visualizer_cfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")
-                self.contact_visualizer = VisualizationMarkers(visualizer_cfg)
+                self.contact_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
             # set their visibility to true
             self.contact_visualizer.set_visibility(True)
         else:

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

@@ -5,6 +5,8 @@
 
 from __future__ import annotations
 
+from omni.isaac.orbit.markers import VisualizationMarkersCfg
+from omni.isaac.orbit.markers.config import CONTACT_SENSOR_MARKER_CFG
 from omni.isaac.orbit.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
@@ -33,3 +35,10 @@ class ContactSensorCfg(SensorBaseCfg):
 
     If an empty list is provided, then only net contact forces are reported.
     """
+
+    visualizer_cfg: VisualizationMarkersCfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")
+    """The configuration object for the visualization markers. Defaults to CONTACT_SENSOR_MARKER_CFG.
+
+    Note:
+        This attribute is only used when debug visualization is enabled.
+    """

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

@@ -14,7 +14,6 @@ from omni.isaac.core.prims import RigidPrimView
 from pxr import UsdPhysics
 
 from omni.isaac.orbit.markers import VisualizationMarkers
-from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG
 from omni.isaac.orbit.utils.math import (
     combine_frame_transforms,
     convert_quat,
@@ -72,9 +71,6 @@ class FrameTransformer(SensorBase):
         # Create empty variables for storing output data
         self._data: FrameTransformerData = FrameTransformerData()
 
-        # visualization markers
-        self.transform_visualizer = None
-
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
         return (
@@ -100,11 +96,6 @@ class FrameTransformer(SensorBase):
     Operations
     """
 
-    def set_debug_vis(self, debug_vis: bool):
-        super().set_debug_vis(debug_vis)
-        if self.frame_transform_visualizer is not None:
-            self.frame_transform_visualizer.set_visibility(debug_vis)
-
     def reset(self, env_ids: Sequence[int] | None = None):
         # reset the timers and counters
         super().reset(env_ids)
@@ -341,11 +332,19 @@ class FrameTransformer(SensorBase):
         self._data.target_pos_source[:] = target_pos_source.view(-1, total_num_frames, 3)
         self._data.target_rot_source[:] = target_rot_source.view(-1, total_num_frames, 4)
 
-    def _debug_vis_impl(self):
-        # visualize the transform
-        if self.transform_visualizer is None:
-            cfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/FrameTransformer")
-            cfg.markers["frame"].scale = (0.05, 0.05, 0.05)
-            self.transform_visualizer = VisualizationMarkers(cfg)
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        # set visibility of markers
+        # note: parent only deals with callbacks. not their visibility
+        if debug_vis:
+            if not hasattr(self, "frame_visualizer"):
+                self.frame_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
+            # set their visibility to true
+            self.frame_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "frame_visualizer"):
+                self.frame_visualizer.set_visibility(False)
 
-        self.transform_visualizer.visualize(self._data.target_pos_w.view(-1, 3), self._data.target_rot_w.view(-1, 4))
+    def _debug_vis_callback(self, event):
+        # Update the visualized markers
+        if self.frame_visualizer is not None:
+            self.frame_visualizer.visualize(self._data.target_pos_w.view(-1, 3), self._data.target_rot_w.view(-1, 4))

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/frame_transformer/frame_transformer_cfg.py

@@ -7,6 +7,7 @@ from __future__ import annotations
 
 from dataclasses import MISSING
 
+from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg
 from omni.isaac.orbit.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
@@ -60,3 +61,10 @@ class FrameTransformerCfg(SensorBaseCfg):
     we can use a single FrameTransformer to track each foot's position and orientation in the body
     frame using four frame offsets.
     """
+
+    visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/FrameTransformer")
+    """The configuration object for the visualization markers. Defaults to FRAME_MARKER_CFG.
+
+    Note:
+        This attribute is only used when debug visualization is enabled.
+    """

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

@@ -17,7 +17,6 @@ from omni.isaac.core.prims import RigidPrimView, XFormPrimView
 from pxr import UsdGeom, UsdPhysics
 
 from omni.isaac.orbit.markers import VisualizationMarkers
-from omni.isaac.orbit.markers.config import RAY_CASTER_MARKER_CFG
 from omni.isaac.orbit.terrains.trimesh.utils import make_plane
 from omni.isaac.orbit.utils.math import quat_apply, quat_apply_yaw
 from omni.isaac.orbit.utils.warp import convert_to_warp_mesh, raycast_mesh
@@ -240,8 +239,7 @@ class RayCaster(SensorBase):
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
             if not hasattr(self, "ray_visualizer"):
-                visualizer_cfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/RayCaster")
-                self.ray_visualizer = VisualizationMarkers(visualizer_cfg)
+                self.ray_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
             # set their visibility to true
             self.ray_visualizer.set_visibility(True)
         else:

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

@@ -9,6 +9,8 @@ from __future__ import annotations
 
 from dataclasses import MISSING
 
+from omni.isaac.orbit.markers import VisualizationMarkersCfg
+from omni.isaac.orbit.markers.config import RAY_CASTER_MARKER_CFG
 from omni.isaac.orbit.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
@@ -59,3 +61,10 @@ class RayCasterCfg(SensorBaseCfg):
 
     For floating base robots, this is useful for simulating drift in the robot's pose estimation.
     """
+
+    visualizer_cfg: VisualizationMarkersCfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/FrameTransformer")
+    """The configuration object for the visualization markers. Defaults to RAY_CASTER_MARKER_CFG.
+
+    Note:
+        This attribute is only used when debug visualization is enabled.
+    """

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

@@ -118,8 +118,7 @@ class SensorBase(ABC):
     def has_debug_vis_implementation(self) -> bool:
         """Whether the sensor has a debug visualization implemented."""
         # check if function raises NotImplementedError
-        # check if function raises NotImplementedError
-        source_code = inspect.getsource(self._debug_vis_callback)
+        source_code = inspect.getsource(self._set_debug_vis_impl)
         return "NotImplementedError" not in source_code
 
     """

source/extensions/omni.isaac.orbit/test/sensors/check_frame_transformer.py

@@ -33,7 +33,7 @@ parser.add_argument(
     "--visualize",
     action="store_true",
     help=(
-        "Whether to enable FrameTransformer's debug_vis (True)                     or visualize each frame one at a"
+        "Whether to enable FrameTransformer's debug_vis (True) or visualize each frame one at a"
         " time and print to console (False)."
     ),
 )
@@ -182,7 +182,7 @@ def main():
     # to step through each frame so the user can verify that the correct frame
     # is being visualized as the frame names are printing to console
     if not args_cli.visualize:
-        cfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/FrameTransformer")
+        cfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/FrameVisualizerFromScript")
         cfg.markers["frame"].scale = (0.05, 0.05, 0.05)
         transform_visualizer = VisualizationMarkers(cfg)
     else:
@@ -237,6 +237,7 @@ def main():
                 print(f"Displaying {frame_index}: {frame_name}")
                 frame_index += 1
                 frame_index = frame_index % len(frame_names)
+
             # visualize frame
             pos = scene["frame_transformer"].data.target_pos_w[:, frame_index]
             rot = scene["frame_transformer"].data.target_rot_w[:, frame_index]

source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py

@@ -18,7 +18,6 @@ from __future__ import annotations
 
 import argparse
 
-# omni-isaac-orbit
 from omni.isaac.kit import SimulationApp
 
 # add argparse arguments
@@ -41,18 +40,17 @@ simulation_app = SimulationApp(config)
 """Rest everything follows."""
 
 
-import numpy as np
 import torch
 import traceback
 
 import carb
 import omni.isaac.core.utils.prims as prim_utils
 from omni.isaac.cloner import GridCloner
-from omni.isaac.core.objects import DynamicSphere
 from omni.isaac.core.prims import RigidPrimView
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
 
+import omni.isaac.orbit.sim as sim_utils
 import omni.isaac.orbit.terrains as terrain_gen
 from omni.isaac.orbit.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
@@ -70,16 +68,17 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
     prim_utils.define_prim("/World/envs/env_0")
     # Define the scene
     # -- Light
-    prim_utils.create_prim("/World/light", "DistantLight")
+    cfg = sim_utils.DistantLightCfg(intensity=2000)
+    cfg.func("/World/light", cfg)
     # -- Balls
-    # -- Ball physics
-    DynamicSphere(
-        prim_path="/World/envs/env_0/ball",
-        translation=np.array([0.0, 0.0, 5.0]),
-        mass=0.5,
+    cfg = sim_utils.SphereCfg(
         radius=0.25,
-        color=np.asarray((0.0, 0.0, 1.0)),
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
     )
+    cfg.func("/World/envs/env_0/ball", cfg, translation=(0.0, 0.0, 5.0))
     # Clone the scene
     cloner.define_base_env("/World/envs")
     envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs)