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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
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142 changes: 90 additions & 52 deletions
142
source/extensions/omni.isaac.orbit/omni/isaac/orbit/markers/config/__init__.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,86 +1,124 @@ | ||
| # Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto | ||
| # All rights reserved. | ||
| # | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
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| from __future__ import annotations | ||
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| 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 | ||
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| from ..visualization_markers import VisualizationMarkersCfg | ||
| ## | ||
| # Sensors. | ||
| ## | ||
|
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| 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.""" | ||
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| POSITION_GOAL_MARKER_CFG = VisualizationMarkersCfg( | ||
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| 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.""" | ||
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| RAY_CASTER_MARKER_CFG = VisualizationMarkersCfg( | ||
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| ## | ||
| # Frames. | ||
| ## | ||
|
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| 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.""" | ||
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| 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).""" | ||
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| 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).""" | ||
|
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| 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).""" | ||
|
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| ## | ||
| # Goals. | ||
| ## | ||
|
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| 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.""" | ||
|
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| 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.""" |
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