Relation solver places robot#880
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Use placement_pool.objects for anchor and rotation lookup so layout keys match the pool instances that configclass duplicates in EventTermCfg params. Signed-off-by: Qian Lin <qianl@nvidia.com>
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Normalize PosePerEnv and init_state fallbacks in get_viewer_cfg_look_at_object so pick-and-place envs build without AttributeError. Signed-off-by: Qian Lin <qianl@nvidia.com>
Discover Replicator/seed_* USDA floorplans and register them as replicator_kitchen_<seed> background assets with a framing viewer cfg. Signed-off-by: Qian Lin <qianl@nvidia.com>
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Summary
Let the relation solver place robot embodiments
Detailed description
PlacementEntityprotocol so the relation solver, objectplacer, and overlap checks operate on both scene objects and embodiments;
EmbodimentBaseandObjectnow implement it.embodiment_placement.py)and wire Droid so its pose can be solved from spatial relations (e.g.
onfloor,
next_tocounter) instead of a hardcoded initial pose.correct Isaac Lab scene entity (
robotfor embodiments), and expand graphconversion to attach embodiment relations.
usd_prim_treeimport in the pass-2 resolver soimporting the generation agent no longer pulls in pxr before SimulationApp.
DummyEmbodiment/DummyObjecttest doubles plus tests for embodimentbbox, graph conversion, and solver placement; add example graph YAMLs
(
kitchen_droid_placement_only,kitchen_embodiment_placement,kitchen_pick_and_place).