Add Lightwheel kitchen graph spec with mesh placement

[qianl-nv]

Summary

Lightwheel kitchen pick and place YAML

Detailed description

• Add droid_pick_and_place_lightwheel_kitchen.yaml with relation-placed Droid, mustard, and bowl on the Lightwheel Robocasa kitchen
• Use stand-only placement bbox for Droid until full robot+stand mesh extraction is supported

Baseline:

Droid bbox for stand only:

[qianl-nv]

self review 1

[greptile-apps]

Greptile Summary

Adds a Lightwheel kitchen pick-and-place environment and enables mesh-aware relational placement.

• Adds a DROID, mustard bottle, bowl, kitchen-counter, and floor graph specification.
• Uses stand-only DROID bounds for floor and counter-relative placement.
• Enables mesh collision geometry for the Lightwheel kitchen background.
• Releases Warp mesh caches before placement pools enter deep-copied reset-event configuration.
• Keeps placement assets accessible through the pool and adds regression coverage for event-config copying.

Confidence Score: 5/5

The PR appears safe to merge, with no concrete changed-code defect established.

The mesh resources removed before event configuration copying are lazily recreated on later pool refills, and the retained placement pool continues to provide the assets and per-environment layouts required by reset events.

Important Files Changed

Filename	Overview
isaaclab_arena/environments/relation_solver_interface.py	Releases non-copyable mesh resources before storing the placement pool in the dynamic reset event.
isaaclab_arena/relations/pooled_object_placer.py	Makes placement pools config-validation-safe and exposes mesh-resource release through the underlying placer.
isaaclab_arena/relations/relation_solver.py	Adds explicit cleanup for Warp mesh managers, pair caches, and associated solver state.
isaaclab_arena/relations/placement_validators.py	Adds cleanup for the lazily recreated CPU mesh cache used by overlap validation.
isaaclab_arena/embodiments/droid/droid.py	Supplies stand-only, root-relative placement bounds for the composed DROID asset.
isaaclab_arena/assets/background_library.py	Configures the Lightwheel kitchen as aggregate mesh collision geometry without watertight repair.
isaaclab_arena_environments/droid_pick_and_place_lightwheel_kitchen.yaml	Defines the Lightwheel kitchen graph, relational placements, and mustard-to-bowl task.
isaaclab_arena/tests/test_relation_solver_interface.py	Covers mesh-backed placement-event deep copying and runtime asset retention through the pool.
isaaclab_arena/tests/test_placement_events.py	Updates reset-placement test doubles for explicit mesh-resource release.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
  YAML[Lightwheel kitchen graph YAML] --> Builder[Arena environment builder]
  Builder --> Solver[Relation solver]
  Kitchen[Kitchen aggregate mesh] --> Solver
  Droid[DROID stand-only bounds] --> Solver
  Objects[Mustard and bowl bounds] --> Solver
  Solver --> Pool[Pooled placement layouts]
  Pool --> Release[Release Warp mesh caches]
  Release --> Event[Deep-copied reset EventTermCfg]
  Event --> Reset[Per-environment reset placement]
  Reset --> Refill[Lazy pool refill]
  Refill --> Solver

Loading

_{Reviews (1): Last reviewed commit: "Release warp mesh caches before storing ..." | Re-trigger Greptile}

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

Adds a Lightwheel Robocasa kitchen environment YAML that places the Droid on the floor next to a counter via relations, and fixes the real blocker behind it: MESH-mode relation solving builds non-copyable warp caches, which broke the EventTermCfg deep-copy that stores the placement pool. The fix threads a release_mesh_collision_resources() call through solver/validators/placer before the pool is stored, plus a stand-only bbox override for the Droid. Core logic looks sound and the deep-copy regression test is a good add; a few small design nits below.

Findings

🟡 object_placer.py:87 — getattr(validator, "release_mesh_collision_resources", None) probes by name; since PlacementValidator is an ABC, a base no-op method + direct call would let each validator answer explicitly.
🔵 droid.py:108 — get_bounding_box re-implements compute_local_bounding_box_from_usd's scale-unbaking and imports its private _read_default_prim_scale; consider extending the shared helper to measure a sub-prim instead of copying the math.
🟡 pooled_object_placer.py:72 — __slots__ used to hide __dict__ from configclass.validate() is fragile (new attributes must be added here or construction breaks) and couples the class to how it's stored; a more direct exclusion would be cleaner.

Test Coverage

Good — test_dynamic_spawn_pose_event_cfg_deepcopy_after_mesh_solve reproduces the exact deep-copy failure (fails before the release, passes after) and the params test now checks the pool is released and carries the objects. Matches the file's deferred-import test style; no sim needed here.

Verdict

Minor fixes needed

[zhx06]

As a special fix for droid, the code LGTM.

[qianl-nv]

Address comments.
The fix for mesh mode crash has evolve to quite sizable one, so I split the part out into a separate MR #972
This MR now only adds the yaml + Droid stand-only bbox.