Object Bin Packing (IRO `bin_pack` harmonizer)

Purpose

Procedurally pack many 3D objects into a cuboid bin (bin / pallet / container / carton) and render synthetic data (RGB, 2D/3D boxes, segmentation) — a focused specialization of object-simulation-sdg built on IRO's bin_pack harmonizer (isaacsim.replicator.object). Placement is gravity-stable: boxes are placed bottom-up and only where they rest on the bin floor or are supported from below, so no box floats in mid-air.

Read object-simulation-sdg first (the description-file schema, run modes, output layout) and action-and-event-data-generation for the launcher and env contract. This skill covers only the bin-packing specialization on top of them.