# Description

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Previously, we were having separate markers for frames, spheres, and
height scanners, each of them having minute differences. This PR
includes a more general wrapping around the
[`USDGeom.PointInstancer`](https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html)
to configure markers through configclass object. Additionally, it moves
to faster
[`pxr.Vt`](https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/api/pxr.html#module-pxr.Vt)
arrays instead of keeping a list of
[`pxr.Gf`](https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/api/pxr.html#module-pxr.Gf)
arrays.

The old markers still exist for now until we move to v1.0 release. They
are present in the `omni.isaac.orbit.compat` module.

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## Type of change

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- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] 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

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