KitchenPickAndPlaceEnvironment uses Object Placement API

isaaclab_arena/assets/background_library.py

@@ -50,7 +50,8 @@ class KitchenBackground(LibraryBackground):
     name = "kitchen"
     tags = ["background"]
     usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/background_library/kitchen_background/kitchen_background.usd"
-    initial_pose = Pose(position_xyz=(0.772, 3.39, -0.895), rotation_wxyz=(0.70711, 0, 0, -0.70711))
+    initial_pose = Pose(position_xyz=(0.772, 3.39, -0.895), rotation_wxyz=(1.0, 0.0, 0.0, 0.0))
+    # initial_pose = Pose(position_xyz=(0.772, 3.39, -0.895), rotation_wxyz=(0.70711, 0, 0, -0.70711))
     object_min_z = -0.2
 
     def __init__(self):

isaaclab_arena/assets/object_reference.py

@@ -5,7 +5,7 @@
 
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg
-from pxr import Usd
+from pxr import Usd, UsdPhysics
 
 from isaaclab_arena.affordances.openable import Openable
 from isaaclab_arena.assets.asset import Asset
@@ -91,6 +91,18 @@ def get_contact_sensor_cfg(self, contact_against_prim_paths: list[str] | None =
 
     def _generate_rigid_cfg(self) -> RigidObjectCfg:
         assert self.object_type == ObjectType.RIGID
+        # Validate that the referenced prim has RigidBodyAPI applied
+        with open_stage(self.parent_asset.usd_path) as parent_stage:
+            prim_path_in_usd = self.isaaclab_prim_path_to_original_prim_path(
+                self.prim_path, self.parent_asset, parent_stage
+            )
+            prim = parent_stage.GetPrimAtPath(prim_path_in_usd)
+            if prim and not prim.HasAPI(UsdPhysics.RigidBodyAPI):
+                raise ValueError(
+                    f"ObjectReference '{self.name}' has object_type=RIGID but the prim "
+                    f"'{prim_path_in_usd}' does not have USD RigidBodyAPI applied. "
+                    "Consider using object_type=BASE for static prims that are part of a background asset."
+                )
         initial_pose = self.get_initial_pose()
         object_cfg = RigidObjectCfg(
             prim_path=self.prim_path,

isaaclab_arena/examples/README.md

@@ -12,13 +12,13 @@ Please check the relevant environment files to see what CLI arguments are suppor
 Examples are launched with a zero action runner (with some example arguments) like:
 
 ```bash
-python isaaclab_arena/examples/policy_runner.py --policy_type zero_action kitchen_pick_and_place --object cracker_box --embodiment gr1_joint
+python isaaclab_arena/evaluation/policy_runner.py --policy_type zero_action kitchen_pick_and_place --object cracker_box --embodiment gr1_joint
 ```
 
 or
 
 ```bash
-python isaaclab_arena/examples/policy_runner.py --policy_type zero_action gr1_open_microwave --object tomato_soup_can
+python isaaclab_arena/evaluation/policy_runner.py --policy_type zero_action gr1_open_microwave --object tomato_soup_can
 ```
 
 **NOTE:** CLI arguments are sensitive to order. They must appear in the following order:

isaaclab_arena_environments/kitchen_pick_and_place_environment.py

@@ -23,6 +23,7 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         from isaaclab_arena.assets.object_reference import ObjectReference
         from isaaclab_arena.assets.object_set import RigidObjectSet
         from isaaclab_arena.environments.isaaclab_arena_environment import IsaacLabArenaEnvironment
+        from isaaclab_arena.relations.relations import AtPosition, IsAnchor, On
         from isaaclab_arena.scene.scene import Scene
         from isaaclab_arena.tasks.pick_and_place_task import PickAndPlaceTask
         from isaaclab_arena.utils.pose import Pose
@@ -31,12 +32,14 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
         pick_up_object = self.asset_registry.get_asset_by_name(args_cli.object)()
         embodiment = self.asset_registry.get_asset_by_name(args_cli.embodiment)(enable_cameras=args_cli.enable_cameras)
 
-        pick_up_object.set_initial_pose(
-            Pose(
-                position_xyz=(0.4, 0.0, 0.1),
-                rotation_wxyz=(1.0, 0.0, 0.0, 0.0),
-            )
+        table_top_reference = ObjectReference(
+            name="table_top_reference",
+            prim_path="{ENV_REGEX_NS}/kitchen/Kitchen_Counter/TRS_Base/TRS_Static/Counter_Top_A",
+            parent_asset=background,
         )
+        table_top_reference.add_relation(IsAnchor())
+        pick_up_object.add_relation(On(table_top_reference, clearance_m=0.02))
+        pick_up_object.add_relation(AtPosition(x=4.0, y=3.0))
 
         # TODO(alexmillane, 2025.09.24): Add automatic object type detection of ObjectReferences.
         destination_location = ObjectReference(
@@ -57,10 +60,10 @@ def get_env(self, args_cli: argparse.Namespace):  # -> IsaacLabArenaEnvironment:
                 objects.append(obj_from_set)
             object_set = RigidObjectSet(name="object_set", objects=objects)
             object_set.set_initial_pose(Pose(position_xyz=(0.4, 0.2, 0.1), rotation_wxyz=(1.0, 0.0, 0.0, 0.0)))
-            scene = Scene(assets=[background, pick_up_object, destination_location, object_set])
+            scene = Scene(assets=[background, table_top_reference, pick_up_object, destination_location, object_set])
 
         else:
-            scene = Scene(assets=[background, pick_up_object, destination_location])
+            scene = Scene(assets=[background, table_top_reference, pick_up_object, destination_location])
         isaaclab_arena_environment = IsaacLabArenaEnvironment(
             name=self.name,
             embodiment=embodiment,