Add Robocasa Object Placements

[hello-fazil]

This PR fixes the task-specific object placements that use the default randomly generated placement distribution fixture provided by Robocasa, which was missing previously. The Object placements should work for any Kitchen task registered from Robocasa here, including Single-Stage/Multi-Stage.

• Object Placements for the task ClearClutter

  python -m stretch_mujoco.robocasa_gen --task ClearClutter --layout 0 --style 1

  

Placing [Object 0] (category: carrot, body_name: obj_0_main) at pos: [ 0.89 -0.48  0.95] quat: [0.99 0.   0.   0.12]
Placing [Object 1] (category: orange, body_name: obj_1_main) at pos: [ 1.79 -0.53  0.97] quat: [1.   0.   0.   0.07]
Placing [Object 2] (category: bottled_water, body_name: unwashable_obj_0_main) at pos: [ 1.6  -0.6   1.01] quat: [1. 0. 0. 0.]
Placing [Object 3] (category: tray, body_name: receptacle_main) at pos: [ 1.83 -0.24  0.96] quat: [1.   0.   0.   0.02]

• Object Placements for the task ClearingCleaningReceptacles

  python -m stretch_mujoco.robocasa_gen --task ClearingCleaningReceptacles --layout 1 --style 0

  

Placing [Object 0] (category: mushroom, body_name: obj_0_main) at pos: [ 3.38 -2.23  0.95] quat: [0.12 0.   0.   0.99]
Placing [Object 1] (category: water_bottle, body_name: unwashable_obj_0_main) at pos: [ 3.46 -2.08  1.03] quat: [-0.15  0.    0.    0.99]
Placing [Object 2] (category: bottled_water, body_name: unwashable_obj_1_main) at pos: [ 3.56 -2.21  1.02] quat: [-0.11  0.    0.    0.99]
Placing [Object 3] (category: tray, body_name: receptacle_main) at pos: [ 1.94 -2.36  0.95] quat: [0.1 0.  0.  1. ]

• Object Placements for the task BeverageSorting

  python -m stretch_mujoco.robocasa_gen --task BeverageSorting --layout 1 --style 0

  

Placing [Object 0] (category: beer, body_name: alcohol1_main) at pos: [ 1.83 -0.47  1.03] quat: [0.96 0.   0.   0.27]
Placing [Object 1] (category: beer, body_name: alcohol2_main) at pos: [ 1.67 -0.52  0.95] quat: [ 1.  0.  0. -0.]
Placing [Object 2] (category: water_bottle, body_name: non_alcohol1_main) at pos: [ 1.67 -0.3   1.03] quat: [ 0.96  0.    0.   -0.28]
Placing [Object 3] (category: can, body_name: non_alcohol2_main) at pos: [ 1.87 -0.45  0.98] quat: [0.94 0.   0.   0.33

Additionally now the [robocasa_gen.model_generation_wizard()]() API unpacks an additional element object_infos dictionary which has info on objects placement.

from stretch_mujoco import robocasa_gen
model, xml, objects_info = robocasa_gen.model_generation_wizard(task="ClearClutter", layout=0, style=1)
print(objects_info)
"""
{'obj_0_main': {'cat': 'potato',
                'pos': (0.8259696447487488, -0.4930029668187229, 0.9545504916),
                'quat': array([ 0.9834313 ,  0.        ,  0.        , -0.18128128], dtype=float32)},
 'obj_1_main': {'cat': 'bell_pepper',
                'pos': (0.6341548938033538,  -0.36549036909803156, 0.9615796320000001),
                'quat': array([ 0.9885259 ,  0.        ,  0.        , -0.15105131], dtype=float32)},
 'receptacle_main': {'cat': 'tray',
                     'pos': (1.7366825016273466, -0.23383657879200015, 0.9410638872),
                     'quat': array([ 0.99955136,  0.        ,  0.        , -0.02995089], dtype=float32)},
 'unwashable_obj_0_main': {'cat': 'teapot',
                           'pos': (0.6242942288114184,  -0.4940240521157808, 0.9750751375000001),
                           'quat': array([1.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.4759951e-04],dtype=float32)},
 'unwashable_obj_1_main': {'cat': 'beer',
                           'pos': (0.7409171927843065, -0.3259462942648694, 1.022),
                           'quat': array([0.9804823 , 0.        , 0.        , 0.19660743], dtype=float32)}}
"""