Fix bounding box rotation in world frame#400
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cvolkcvolk merged 7 commits intomainfrom Feb 10, 2026
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Summary
Rotated background (
KitchenBackground& thekitchen_pick_and_placeenvironment) work with the ObjectPlacement'sOnRelation.Object.get_world_bounding_box()only translated bounding boxes from local to world frame — rotations were not accounted for:When a background asset with a non-identity rotation was used (e.g., the kitchen background with a -90° Z rotation),
ObjectReferenceandObjectbounding boxes were incorrect in world coordinates.This caused the relation solver to compute wrong valid placement ranges, leading to objects being placed at incorrect positions. For example, AtPosition(x=0.4, y=0.0) on the kitchen counter would place the object at the wrong location because the On constraint's valid Y range was computed from the unrotated (narrow) local Y extent instead of the rotated (wide) local X extent.
Object.get_world_bounding_box()now additionally rotates based on the initial pose. As we are dealing with axis-aligned bounding boxes, we only allow for rotations of 90-degree multiples (for an AABB to still remain valid).