Debug viz within events?

[jloganolson]

Is there any guidance around simple ways to add visualization markers to an eventCfg akin to commandCfg when using a manager based environment?

I tried hacking it in by creating a eventCfg function that took a visualizationMarker as a param to no avail (RuntimeError: Pickling of "pxr.UsdGeom.PointInstancer" instances is not enabled (http://www.boost.org/libs/python/doc/v2/pickle.html))

[jloganolson]

Here's an example using Isaac Sim's debug_draw :
https://github.com/jloganolson/g1_23dof_rigor/blob/main/source/g1_23dof_rigor/g1_23dof_rigor/tasks/manager_based/g1_23dof_rigor/mdp/events.py#L56

(h/t Claud/Cursor)