Integrate robot/mesh placement with LW/replicator kitchen#937
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qianl-nv wants to merge 11 commits into
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Integrate robot/mesh placement with LW/replicator kitchen#937qianl-nv wants to merge 11 commits into
qianl-nv wants to merge 11 commits into
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Signed-off-by: zhx06 <zihaox@nvidia.com>
Signed-off-by: zhx06 <zihaox@nvidia.com>
Signed-off-by: zhx06 <zihaox@nvidia.com>
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>
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>
Keep test pools aligned with the runtime pool interface used for deepcopy-safe placement resets. Signed-off-by: Qian Lin <qianl@nvidia.com>
Collect the Droid and Replicator kitchen graph specifications used to exercise relation-solved robot placement. Signed-off-by: Qian Lin <qianl@nvidia.com>
Include the stand in the embodiment placement footprint so relation solving accounts for the stand-height offset. Signed-off-by: Qian Lin <qianl@nvidia.com>
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