Add relation solver geometry to env runner

[qianl-nv]

Summary

Visualize relation-placement geometry optionally in environment_runner.py

Detailed description

• Add an opt-in --show_placement_overlay flag to environment_runner.py.
• Draw solver AABBs and MESH collision wireframes with entity-specific colors.
• Render fixed background meshes once with full edges while updating movable geometry from live poses.
• Add lifecycle, geometry, fallback-pose, and warning-deduplication tests.

Command to run:
python isaaclab_arena/scripts/environment_runner.py --show_placement_overlay --env_graph_spec_yaml isaaclab_arena_environments/kitchen_bench/droid_pick_and_place_lightwheel_kitchen.yaml

[qianl-nv]

self review 1

[greptile-apps]

Greptile Summary

The PR adds an optional placement-geometry overlay to the interactive environment runner and exposes placement-pool geometry needed to construct it.

• Adds entity-colored solver AABBs and mesh collision wireframes.
• Keeps fixed background wireframes as persistent USD curves while redrawing movable geometry from live poses.
• Moves and expands the Isaac Sim debug-draw helpers.
• Adds overlay lifecycle, geometry, fallback, and warning-deduplication tests.

Confidence Score: 4/5

The live-pose conversion must be fixed before merging because enabling the new overlay can terminate the environment runner on its first scene-backed asset.

The overlay calls PyTorch-only tensor methods directly on Isaac Lab's Warp-backed root pose values, while established consumers explicitly convert those buffers with warp.to_torch first.

Files Needing Attention: isaaclab_arena/visualization/placement_geometry_draw.py

Important Files Changed

Filename	Overview
isaaclab_arena/scripts/environment_runner.py	Adds the opt-in CLI flag and correctly owns overlay creation, per-step redraw, and cleanup.
isaaclab_arena/visualization/placement_geometry_draw.py	Implements placement-pool visualization, but live-pose reads apply PyTorch methods directly to Warp-backed scene data and can terminate the runner.
isaaclab_arena/visualization/isaac_sim_debug_draw.py	Relocates the debug-draw wrapper and adds reusable box, quaternion-transform, mesh-edge, and wireframe helpers.
isaaclab_arena/relations/pooled_object_placer.py	Adds defensive-copy access to fixed collision objects and exposes the solver's default collision mode.
isaaclab_arena/tests/test_placement_geometry_draw.py	Covers geometry and fallback behavior but does not exercise the actual Warp-backed live scene pose buffers.
isaaclab_arena/tests/test_environment_runner.py	Covers argument defaults and the overlay lifecycle through a test double.

Sequence Diagram

sequenceDiagram
  participant Runner as environment_runner
  participant Overlay as PlacementGeometryDraw
  participant Scene as Isaac Lab scene
  participant Draw as Debug draw / USD
  Runner->>Overlay: from_env(env)
  Overlay->>Runner: overlay
  Runner->>Overlay: redraw(env)
  Overlay->>Draw: create fixed background curves once
  loop Every simulation step
    Runner->>Scene: env.step(zero_actions)
    Runner->>Overlay: redraw(env)
    Overlay->>Scene: read live root pose
    Overlay->>Draw: clear transient lines
    Overlay->>Draw: draw AABBs and movable meshes
  end
  Runner->>Overlay: close()
  Overlay->>Draw: clear lines and remove static root

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_{Reviews (1): Last reviewed commit: "Harden placement overlay fallback handli..." | Re-trigger Greptile}

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This PR adds an opt-in --show_placement_overlay flag to environment_runner.py that draws relation-solver AABBs and MESH collision wireframes in Kit, and refactors the debug-draw helper from utils/ into a new visualization/ package. The change is nicely conservative — default-off, best-effort (the visualizer is guarded so it never crashes the runner), and well tested without needing Kit. No correctness or boundary blockers; a few readability/maintenance points below.

Findings

🟡 placement_geometry_draw.py:249 — _solver_world_aabb re-derives the solver's box-construction math and its docstring admits it mirrors ObjectPlacer._rotate_candidate_bboxes. If the solver changes, the overlay silently diverges and misleads. Worth a single shared helper both call.

🔵 placement_geometry_draw.py:153 — getattr(asset, "name", kind) on a name-declaring contract; use asset.name.

🔵 placement_geometry_draw.py:279 — visualizer calls the private PlaceableAsset._get_initial_pose_as_pose(); a public accessor would decouple it.

🔵 environment_runner.py:142 — module import deferred into run_environment with no sim-init or cycle reason; hoist or add a # NOTE: if intentional.

Test Coverage

Good. New pure-Python geometry tests (test_placement_geometry_draw.py) cover corners/edges/rotation, mesh decimation, entity classification, the ranged/per-env fallback-pose collapse, world-AABB construction for fixed vs. live placeables, and the warning-dedup path. The runner lifecycle test asserts from_env → print_legend → redraw → redraw → close, and fixtures are kept in sync with the new CLI arg. No sim-dependent imports leak to module top.

Verdict

Ship it (minor cleanups optional).

[qianl-nv]

self review 2