Adds live plots to managers

[pascal-roth]

Description

This adds a UI interface to the Managers in the ManagerBasedEnv and The MangerBasedRLEnv. Additions include:

• UI widgets for LiveLinePlot and ImagePlot
• ManagerLiveVisualizer/Cfg: Given a ManagerBase (i.e. action_manager, observation_manager, etc) and a config file this class creates the the interface between managers and the UI.
• EnvLiveVisualizer: A 'manager' of ManagerLiveVisualizer. This is added to the ManagerBasedEnv but is only called during the initialization of the managers in load_managers
• Adds get_active_iterable_terms implementation methods to ActionManager, ObservationManager, CommandsManager, CurriculumManager, RewardManager, and TerminationManager. This method exports the active term data and labels for each manager and is called by ManagerLiveVisualizer.
• Additions to BaseEnvWindow and RLEnvWindow to register ManagerLiveVisualizer UI interfaces for the chosen managers.

Screenshots

Screencast from 09-06-2024 01:20:18 PM.webm

Implementation

Type of change

• New feature (non-breaking change which adds functionality)

Checklist

• [x] I have run the pre-commit checks with ./isaaclab.sh --format
• [x] 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
• [ ] 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

[jsmith-bdai]

Forgot to say, thanks for putting this up and all the reworking on the initial design! This will be super useful for debugging :+1:

[pascal-roth]

@renezurbruegg, as the original author, some feedback from you would be helpful

[renezurbruegg]

Nice changes and great work @jtigue-bdai, thanks a lot. I left some high level inputs / discussion about the changes.

Love the Image Visualizer, really nice to have this!

[jtigue-bdai]

Nice changes and great work @jtigue-bdai, thanks a lot. I left some high level inputs / discussion about the changes.

Love the Image Visualizer, really nice to have this!

@renezurbruegg I am not seeing your comments.

[pascal-roth]

@jsmith-bdai I ran the default anymal training and had to make some bugfixes, please have a look. Afterwards, we should be able to merge it

[pascal-roth]

@renezurbruegg ping for visibility, let us know if you have any more comments

[jtigue-bdai]

I gave it a quick glance, here some small changes, will comment further under relevant discussions

@pascal-roth Looks good. Thanks

[pascal-roth]

@renezurbruegg and @jsmith-bdai I tried to visualize a depth image but there was no output on the console. Did any of you every try to do that?

[jtigue-bdai]

@pascal-roth Yeah I had it working with depth images. But it was before we adjusted the shape checks and I was using an observation that I removed on commit after the more comprehensive image observation was added recently.

[pascal-roth]

hm, any idea why it should be broken now? Still just passing an image to the function

[Dhoeller19]

Looks good to me, maybe we should rename env_idx to env_ids for consistency?

[pascal-roth]

Looks good to me, maybe we should rename env_idx to env_ids for consistency?

Difference to the standard notation is that env_idx is typically just a single env id and env_ids a list/ sequence of ids. Thus, the difference would make sense to me. If you don't like it, I can rename it.

[pascal-roth]

@Dhoeller19 do you think we can introduce a set of tests for the new class, I think we still have an issue in the dimension check.