Motivation and Context

Previously when creating RenderAssetInstances we've assumed the top level transformation (object's state pose) is enough and that other local transformations will be encapsulated within the asset or the owning superstructure (e.g. the articulated rig). However, when using RenderReplay in HitL with isaac integration we run replay at the link level rather than the visual shape level. Since URDF visual shapes can support their own local transformation frame () we were missing a few local transformations leading to a mismatch between the Isaac internal simulation state and the render state seen in the client.
This change introduces an additional level of configurable local transformations to the render instance pipeline allowing these per-visual element offsets to be properly captured. In general this change allows local transformation offsets to be defined and tracked by RenderReplay.

How Has This Been Tested

Tested locally in HitL.
TODO: unit tests.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.