Add relation solver geometry to env runner - #990
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Draw solver/validator AABBs and MESH-mode collision meshes in Kit via --show_placement_debug, with per-kind colors and a console legend. Signed-off-by: Qian Lin <qianl@nvidia.com>
Draw world AABBs via get_world_bounding_box / rotated_by_quat+translate instead of full-pose OBBs, which misaligned floor and robot boxes in Kit. Signed-off-by: Qian Lin <qianl@nvidia.com>
Isaac Lab root_quat_w is already (x, y, z, w); the prior wxyz conversion scrambled Droid yaw and vertically offset the AABB. Signed-off-by: Qian Lin <qianl@nvidia.com>
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