[DO NOT MERGE] Exp: Droid tabletop PnP with Curobo env#395
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[DO NOT MERGE] Exp: Droid tabletop PnP with Curobo env#395
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xyao-nv
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## Summary Allow object scale to be set when instantiating library objects so users can override default scales without changing asset code. Only add it to Rigid Objs. ## Detailed description - Users may need configure different scales than what's provided asset library (need it when building a droid multi-objs PnP [example](#395)). - Add optional` scale: tuple[float, float, float] | None = None` to `LibraryObject.__init__`. If provided, it overrides the class default; otherwise the class scale is used. - Add and forward the scale parameter in all subclasses that define `__init__`
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Docker Setup
./dicker/run_docker.sh./docker/run_docker.sh -cEnv
python isaaclab_arena/evaluation/policy_runner.py --num_steps 2000 --enable_cameras --policy_type zero_action droid_tabletop_pick_and_place --object tomato_soup_can