Issue with FrameTransformer and two articulations

[mikelasa]

Hello, I started doing a simple version of a transformer from my robot link0 to the link7 following the run_frame_tutorial.py. I created a FrameTransformerCfg which takes the link0 as source and link 7 as target and tried to create the actual FrameTransformer with it (This transformer is located into my class TableTopSceneCfg(InteractiveSceneCfg) interactive scene):

#frame transformer
    ee_pad_frame_transformer_cfg = FrameTransformerCfg(
        #prim_path="/World/envs/env_0/Bin",
        #prim_path="{ENV_REGEX_NS}/Bin"
        prim_path="/World/envs/env_0/Robot1/panda_link0",
        debug_vis=False,
        target_frames=[
            FrameTransformerCfg.FrameCfg(prim_path="/World/envs/env_0/Robot1/panda_link7",
                                         name="pad_ee1_transform")
            #FrameTransformerCfg.FrameCfg(prim_path="/World/envs/env_0/Robot2/rectangular_pad",
                                         #name="pad_ee2_transform"),
        ],
        visualizer_cfg=VisualizationMarkersCfg(
            prim_path="/Visuals/ObjectFrameTransformer",
            markers={
                "frame_ee1_pad": sim_utils.UsdFileCfg(
                    usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/frame_prim.usd",
                    scale=(0.1, 0.1, 0.1),
                )
            }
        )
    )
    ee_pad_frame_transformer = FrameTransformer(ee_pad_frame_transformer_cfg)

Commenting out ee_pad_frame_transformer = FrameTransformer(ee_pad_frame_transformer_cfg) I'm able to launch the simulation and see in Visuals the created "ObjectFrameTransformer" and also the visualization of the frame in the end effector (attached image). The moment I try to create the transformer sensor with this configuration I have the following error which I guess is related to isaac sim? (I dont understand the error very well):

Traceback (most recent call last):
  File "/home/mikel/IsaacOrbitLFD/IsaacLab/source/standalone/cartesian_impedance_control/env/bimanual_robot_pads.py", line 26, in <module>
    from bimanual_env_pad_cfg import BimanualLiftPressEnvCfg
  File "/home/mikel/IsaacOrbitLFD/IsaacLab/source/standalone/cartesian_impedance_control/env/bimanual_env_pad_cfg.py", line 399, in <module>
    class BimanualLiftPressEnvCfg(ManagerBasedEnvCfg):
  File "/home/mikel/IsaacOrbitLFD/IsaacLab/source/standalone/cartesian_impedance_control/env/bimanual_env_pad_cfg.py", line 403, in BimanualLiftPressEnvCfg
    scene: TableTopSceneCfg = TableTopSceneCfg(num_envs=2, env_spacing=2.5)
  File "<string>", line 15, in __init__
  File "/home/mikel/IsaacOrbitLFD/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py", line 418, in _wrap
    return deepcopy(f)
  File "/home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/copy.py", line 172, in deepcopy
    y = _reconstruct(x, memo, *rv)
  File "/home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/copy.py", line 271, in _reconstruct
    state = deepcopy(state, memo)
  File "/home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/copy.py", line 146, in deepcopy
    y = copier(x, memo)
  File "/home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/copy.py", line 231, in _deepcopy_dict
    y[deepcopy(key, memo)] = deepcopy(value, memo)
  File "/home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/python/lib/python3.10/copy.py", line 161, in deepcopy
    rv = reductor(4)
TypeError: cannot pickle 'carb.events._events.ISubscription' object
2024-07-09 14:48:15 [21,293ms] [Warning] [carb] [Plugin: omni.sensors.tiled.plugin] Module /home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/extscache/omni.sensors.tiled-0.0.3+106.0.0.lx64.r/bin/libomni.sensors.tiled.plugin.so remained loaded after unload request
2024-07-09 14:48:15 [21,298ms] [Warning] [carb] [Plugin: omni.spectree.delegate.plugin] Module /home/mikel/.local/share/ov/pkg/isaac-sim-4.0.0/kit/exts/omni.usd_resolver/bin/libomni.spectree.delegate.plugin.so remained loaded after unload request
2024-07-09 14:48:15 [21,300ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,300ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,300ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2024-07-09 14:48:15 [21,301ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2024-07-09 14:48:15 [21,468ms] [Warning] [carb] Recursive unloadAllPlugins() detected!

My goal is to use the FrameTransformer to compute the transformation from an object in the scene to both end effectors I have. I'm aware of the note telling that this function is meant to be used within an articulation. There is a possibility of achieving my goal using this class or should I do the computations by myself? (attached a sketch)