Add Replicator kitchen example assets - #965
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Discover Replicator/ USDA floorplans and register them as replicator_kitchen_ background assets with a framing viewer cfg. Add yamls in kitchen_bench with replicator background + p&p task. Enable mesh mode for background in relation solver. Signed-off-by: Qian Lin <qianl@nvidia.com> Add replicator kitchen yaml
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Summary
Add Replicator kitchen example assets
Detailed description
replicator_kitchen_<seed>backgroundsTo run:
Download sample asset from https://drive.google.com/drive/folders/1SnaNw8uS0Oz3qz4EYPYRCbR9Fsg6hgAd
and place it under IsaacLab-Arena/Replicator folder
/isaac-sim/python.sh isaaclab_arena/evaluation/policy_runner.py --viz kit --policy_type zero_action --num_episodes 20 --disable_fabric --device cpu --env_graph_spec_yaml isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_mustard_bowl.yaml