[Diagnosis Only ]Object Placement Diagnosis

isaaclab_arena/assets/background_library.py

@@ -138,6 +138,22 @@ def __init__(self):
         super().__init__()
 
 
+@register_asset
+class OfficeTableBackground(LibraryBackground):
+    """
+    A basic office table.
+    """
+
+    name = "office_table_background"
+    tags = ["background"]
+    usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Mimic/nut_pour_task/nut_pour_assets/table.usd"
+    object_min_z = -0.05
+    scale = (1.0, 1.0, 0.7)
+
+    def __init__(self):
+        super().__init__(scale=self.scale)
+
+
 @register_asset
 class LightwheelKitchenBackground(LibraryBackground):
     """

isaaclab_arena/environments/arena_env_builder.py

@@ -88,12 +88,20 @@ def _solve_relations(self) -> None:
         placer_params = ObjectPlacerParams(
             placement_seed=self.args.placement_seed,
             apply_positions_to_objects=False,
-            solver_params=RelationSolverParams(save_position_history=False, verbose=False),
+            solver_params=RelationSolverParams(
+                save_position_history=False,
+                verbose=False,
+                no_collision_xy_only=getattr(self.args, "no_collision_xy_only", True),
+                no_collision_include_anchors=getattr(self.args, "no_collision_include_anchors", False),
+            ),
         )
+        placement_max_attempts = getattr(self.args, "placement_max_attempts", None)
+        if placement_max_attempts is not None:
+            placer_params.max_placement_attempts = placement_max_attempts
         if cli_resolve is not None:
             placer_params.resolve_on_reset = cli_resolve
 
-        pool_size = num_envs * placer_params.min_unique_layouts_per_env
+        pool_size = getattr(self.args, "placement_pool_size", num_envs * placer_params.min_unique_layouts_per_env)
 
         placement_pool = PooledObjectPlacer(
             objects=objects_with_relations,
@@ -412,7 +420,30 @@ def make_registered_and_return_cfg(
     ) -> tuple[ManagerBasedEnv, IsaacLabArenaManagerBasedRLEnvCfg]:
         name, cfg = self.build_registered(env_cfg)
         env = gym.make(name, cfg=cfg, render_mode=render_mode)
+        if self.arena_env.force_convex_hull:
+            _force_convex_hull(env)
         # ViewportCameraController sets the camera before KitVisualizer.initialize() is called,
         # so the call is silently ignored. Re-apply here once the visualizers are fully initialized.
         reapply_viewer_cfg(env)
         return env, cfg
+
+
+def _force_convex_hull(env: ManagerBasedEnv) -> None:
+    """Replace ``convexDecomposition`` with ``convexHull`` on all MeshCollision prims.
+
+    ``convexDecomposition`` on raw scanned meshes (e.g. robolab assets) creates
+    irregular contact surfaces that are unstable in multi-object scenarios.
+    ``convexHull`` produces a single convex shape that behaves predictably.
+    """
+    from pxr import UsdPhysics
+
+    stage = env.unwrapped.sim.stage
+    for prim in stage.Traverse():
+        if not prim.HasAPI(UsdPhysics.MeshCollisionAPI):
+            continue
+        mesh_col = UsdPhysics.MeshCollisionAPI(prim)
+        approx_attr = mesh_col.GetApproximationAttr()
+        if not approx_attr or not approx_attr.HasValue():
+            continue
+        if approx_attr.Get() == "convexDecomposition":
+            approx_attr.Set("convexHull")

isaaclab_arena/environments/isaaclab_arena_environment.py

@@ -31,6 +31,7 @@ def __init__(
         env_cfg_callback: Callable[IsaacLabArenaManagerBasedRLEnvCfg] | None = None,
         rl_framework_entry_point: str | None = None,
         rl_policy_cfg: str | None = None,
+        force_convex_hull: bool = False,
     ):
         """
         Args:
@@ -49,6 +50,10 @@ def __init__(
                 ``rl_policy_cfg`` is set.
             rl_policy_cfg: Import path to the RL policy config class, e.g.
                 ``"my_module:RLPolicyCfg"``.
+            force_convex_hull: If True, replace ``convexDecomposition`` with ``convexHull``
+                on all MeshCollision prims after scene creation. Needed for assets with
+                raw scanned meshes (e.g. robolab objects) that are unstable with
+                ``convexDecomposition``.
         """
         self.name = name
         self.scene = scene
@@ -57,6 +62,7 @@ def __init__(
         self.teleop_device = teleop_device
         self.orchestrator = orchestrator
         self.env_cfg_callback = env_cfg_callback
+        self.force_convex_hull = force_convex_hull
         if (rl_framework_entry_point is None) != (rl_policy_cfg is None):
             raise ValueError("rl_framework_entry_point and rl_policy_cfg must both be set or both be None.")
         self.rl_framework_entry_point = rl_framework_entry_point