Introduce OrientedBoundingBox

[zhx06]

Summary

Add oriented bounding box support

##Detailed description

• Replace AABBs with rotation-aware OBBs.
• Propagate full quaternions through placement and results.
• Extend mesh collision and cuRobo integration to 3D rotations.

[greptile-apps]

Greptile Summary

Introduces rotation-aware oriented bounding boxes throughout placement and collision handling.

• Replaces axis-aligned bounding-box representations with quaternion-aware OBB geometry.
• Propagates full 3D rotations through relation solving, placement validation, mesh collision checks, and placement results.
• Updates ObjectReference scaling and transforms for rotated referenced geometry.
• Converts OBBs into correctly oriented cuRobo collision cuboids for IK reachability validation.
• Expands tests and visualization helpers for rotated boxes and poses.

Confidence Score: 5/5

The PR appears safe to merge; no concrete changed-code defect was identified.

The reviewed OBB, solver, validator, mesh-collision, ObjectReference, and cuRobo paths consistently use xyzw quaternions, compose local-to-world rotations in the same order, preserve pose-relative box centers, and keep matching relation losses and validators geometrically aligned.

Important Files Changed

Filename	Overview
isaaclab_arena/utils/bounding_box.py	Replaces the AABB abstraction with batched quaternion-aware OBB construction, transformation, projection, corner generation, and SAT penetration operations.
isaaclab_arena/assets/object_reference.py	Applies parent scaling in the referenced prim’s frame and propagates composed rotations into local bounds, world bounds, and collision meshes.
isaaclab_arena/relations/relation_solver_state.py	Carries full candidate rotations through solver state and derives dynamic FaceTo orientations while producing transformed OBBs.
isaaclab_arena/relations/object_placer.py	Generates, validates, and applies full quaternion placement orientations instead of yaw-only footprints.
isaaclab_arena/relations/no_overlap_obb.py	Replaces axis-aligned overlap loss with OBB penetration computed through separating-axis projections.
isaaclab_arena/relations/placement_validators.py	Updates spatial-relation and collision validation to evaluate rotation-aware world bounding boxes.
isaaclab_arena/relations/no_overlap_mesh.py	Extends mesh broadphase and frame transformations to full quaternion poses and oriented bounding-box proxies.
isaaclab_arena_curobo/utils/ik_solver_utils.py	Builds cuRobo cuboids by composing object poses with intrinsic OBB centers and orientations.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  USD[USD geometry] --> OBB[Local OrientedBoundingBox]
  OBB --> ENV[Per-environment boxes]
  ENV --> STATE[Relation solver state]
  STATE --> LOSS[Relation and overlap losses]
  STATE --> POSE[Full quaternion placement poses]
  POSE --> VALIDATE[Placement validators]
  POSE --> MESH[Warp mesh collision transforms]
  POSE --> CUROBO[cuRobo oriented cuboids]
  VALIDATE --> RESULT[Placement result]
  MESH --> RESULT
  CUROBO --> RESULT

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_{Reviews (1): Last reviewed commit: "introduce oriented bbox" | Re-trigger Greptile}

[arena-review-bot]

🔵 Duplicated OBB→box-mesh conversion

This builds a trimesh box from an OBB (extents, quaternion_matrix(np.roll(...)), translate) — the same steps NoOverlapValidator._collision_mesh_or_bbox_proxy runs in placement_validators.py. Could the conversion live once, e.g. as a small OrientedBoundingBox.to_box_mesh() (or a shared helper both call), so the two copies can't drift apart?

[arena-review-bot]

🔵 Generic geometry helper imported from the collision module

transform_points_between_frames is a plain quaternion frame transform, but it lives in no_overlap_mesh.py and is pulled in here. Would a shared home (e.g. utils/pose or a small transforms util) fit better, so the validator doesn't reach into the collision-loss module for basic geometry?

[arena-review-bot]

🔵 is_axis_aligned looks unused

The only caller I can find is its own unit test — no production use. Is it needed now, or can it be dropped until something actually uses it?

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This PR replaces the axis-aligned bounding box with a batched OrientedBoundingBox and threads full xyzw rotations through placement, validation, the relation solver, mesh/OBB collision, debug draw, and the cuRobo cuboids. It is a large but cohesive, well-typed refactor: the new type keeps invariants by construction (unit-quat / non-negative half-extent asserts, from_tensors_unchecked fast paths), the per-env vectorization in no_overlap_mesh preserves the old per-pair-mean semantics, and it is backed by substantial test additions (OBB geometry, reference objects, mesh collision, reachability). Overall read: solid, ship-quality once a few small cleanups are considered.

Findings

🔵 Improvement — _bbox_proxy_mesh (no_overlap_mesh.py) and _collision_mesh_or_bbox_proxy (placement_validators.py) build the same OBB→trimesh box; factor into one shared helper / OrientedBoundingBox method.
🔵 Improvement — transform_points_between_frames is a generic frame transform living in the collision module but imported by the validators; a shared utils home would read cleaner.
🔵 Improvement — OrientedBoundingBox.is_axis_aligned appears to have no production caller (only its own test).

Notes (non-blocking)

The no-overlap collision loss changes from an overlap-volume product (slope=10000) to SAT min-penetration (new collision_loss_slope=1000), which alters the solver's optimization dynamics for every placement. This looks intentional and better-conditioned (penetration is in metres, dimensionally consistent with the relation losses it now sits 10× above), and it is covered by tests — flagging only so the recalibration is a conscious choice rather than incidental.

Test Coverage

Good. The changed suites cover the new OBB math, rotated reference objects, mesh/OBB collision parity, and reachability-cuboid orientation, including negative/identity-fallback cases. These are pure-Python (non-sim) tests, so the inner/outer run_simulation_app_function pattern is not required here.

Verdict

Ship it (minor cleanups optional).