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Require stable destination support for pick and place - #971

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cvolkcvolk wants to merge 2 commits into
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cvolk/fix/destination-support-check
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Require stable destination support for pick and place#971
cvolkcvolk wants to merge 2 commits into
mainfrom
cvolk/fix/destination-support-check

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Summary

Require objects within destination bounds

Detailed description

  • Prevent exterior bowl contact from counting as pick-and-place success.
  • Require upward support plus pickup-centroid containment in the destination world-XY footprint.
  • Keep the existing PickAndPlaceTask, linear-speed gate, and multi-object behavior.
  • Add focused regressions for force direction, rotations, references, and batched environments.

Signed-off-by: Clemens Volk <cvolk@nvidia.com>
Signed-off-by: Clemens Volk <cvolk@nvidia.com>
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