enhance logging for helper keyframes with detailed position and rotation data

visualization/logger.py

@@ -143,19 +143,28 @@ class SimulationLogger:
         if not helper_keyframes:
             return
 
-        try:
-            helper_positions = np.array([
-                vector3_to_numpy(frame['position']) for frame in helper_keyframes
-            ])
-            rr.log(
-                "world/helper_keyframes",
-                rr.Points3D(
-                    helper_positions,
-                    colors=np.full((len(helper_positions), 4),
-                                   [1.0, 1.0, 0.0, 1.0])
-                ),
-                timeless=True
-            )
+        for frame_idx, helper_frame in enumerate(helper_keyframes):
+            try:
+                rr.set_time_sequence("frame_idx", frame_idx)
 
-        except Exception as e:
-            print(f"Error logging helper keyframes: {str(e)}")
+                position = vector3_to_numpy(helper_frame['position'])
+                rotation_q = euler_to_quaternion(helper_frame['angle'])
+
+                rr.log(
+                    "world/helper",
+                    rr.Transform3D(
+                        translation=position,
+                        rotation=rr.Quaternion(xyzw=rotation_q)
+                    )
+                )
+
+                rr.log(
+                    "world/helper/indicator",
+                    rr.Points3D(
+                        points=np.array([position]),
+                        colors=np.array([[1.0, 1.0, 0.0, 1.0]]),  # Yellow
+                    )
+                )
+
+            except Exception as e:
+                print(f"Error logging helper keyframe {frame_idx}: {str(e)}")