MVP single object placement api aabb

[cvolkcvolk]

Summary

The MVP implements a single hierarchy placement API, to allow placing a single asset next to a base asset.

This design will implement the following two basic object relationship methods:

• on_top_of() - Place objects on surfaces
• next_to() - Place objects beside each other

cracker_box.set_initial_pose(Pose(position_xyz=(0.4, 0.0, 0.1), rotation_wxyz=(1.0, 0.0, 0.0, 0.0)))
tomato_soup_can.next_to(cracker_box, side="left", clearance=0.05)
microwave.next_to(cracker_box, side="right", clearance=0.05)
mustard_bottle.on_top_of(microwave)