From 9da8aef33f2d0f299fa36c80c03ce1c895251546 Mon Sep 17 00:00:00 2001
From: Qian Lin <qianl@nvidia.com>
Date: Tue, 14 Jul 2026 00:57:13 -0700
Subject: [PATCH] Add Replicator kitchen backgrounds to background library

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
---
 isaaclab_arena/assets/background_library.py   | 49 +++++++++++
 .../test_replicator_background_discovery.py   | 25 ++++++
 ...eplicator_kitchen_g_shape_banana_bowl.yaml | 74 +++++++++++++++++
 .../replicator_kitchen_g_shape_bowl_sink.yaml | 81 +++++++++++++++++++
 ...plicator_kitchen_g_shape_mustard_bowl.yaml | 74 +++++++++++++++++
 ...plicator_kitchen_l_island_banana_bowl.yaml | 74 +++++++++++++++++
 ...replicator_kitchen_l_island_bowl_sink.yaml | 81 +++++++++++++++++++
 ...licator_kitchen_l_island_mustard_bowl.yaml | 74 +++++++++++++++++
 ...eplicator_kitchen_l_shape_banana_bowl.yaml | 74 +++++++++++++++++
 .../replicator_kitchen_l_shape_bowl_sink.yaml | 81 +++++++++++++++++++
 ...plicator_kitchen_l_shape_mustard_bowl.yaml | 74 +++++++++++++++++
 ...eplicator_kitchen_peninsula_bowl_sink.yaml | 81 +++++++++++++++++++
 ...icator_kitchen_peninsula_mustard_bowl.yaml | 74 +++++++++++++++++
 ...eplicator_kitchen_u_shape_banana_bowl.yaml | 74 +++++++++++++++++
 .../replicator_kitchen_u_shape_bowl_sink.yaml | 81 +++++++++++++++++++
 ...plicator_kitchen_u_shape_mustard_bowl.yaml | 74 +++++++++++++++++
 16 files changed, 1145 insertions(+)
 create mode 100644 isaaclab_arena/tests/test_replicator_background_discovery.py
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_banana_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_bowl_sink.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_mustard_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_banana_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_bowl_sink.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_mustard_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_banana_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_bowl_sink.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_mustard_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_bowl_sink.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_mustard_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_banana_bowl.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_bowl_sink.yaml
 create mode 100644 isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_mustard_bowl.yaml

diff --git a/isaaclab_arena/assets/background_library.py b/isaaclab_arena/assets/background_library.py
index 7fcaf01c9..79fd602f2 100644
--- a/isaaclab_arena/assets/background_library.py
+++ b/isaaclab_arena/assets/background_library.py
@@ -3,6 +3,9 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+from __future__ import annotations
+
+from pathlib import Path
 from typing import Any
 
 import isaaclab.sim as sim_utils
@@ -200,6 +203,52 @@ def get_viewer_cfg(self) -> ViewerCfg:
         return ViewerCfg(eye=(2.75, -5.5, 1.5), lookat=(2.75, -1.4, 0.9))
 
 
+_REPLICATOR_ROOT = Path(__file__).resolve().parents[2] / "Replicator"
+
+
+def _discover_replicator_kitchen_usda_paths() -> dict[str, Path]:
+    """Map ``replicator_<stem>`` registry names to flat ``Replicator/*.usda`` paths."""
+    paths: dict[str, Path] = {}
+    if not _REPLICATOR_ROOT.is_dir():
+        return paths
+    for usda_path in sorted(_REPLICATOR_ROOT.glob("*.usda")):
+        asset_name = f"replicator_{usda_path.stem}"
+        paths[asset_name] = usda_path.resolve()
+    return paths
+
+
+class ReplicatorKitchenBackground(LibraryBackground):
+    """Lightwheel Replicator-generated kitchen floorplan from a flat ``Replicator/*.usda`` file."""
+
+    tags = ["background", "replicator"]
+    initial_pose = Pose.identity()
+    object_min_z = -0.2
+
+    def get_viewer_cfg(self) -> ViewerCfg:
+        return ViewerCfg(eye=(0.0, -1.0, 1.35), lookat=(0.0, 0.0, 1.35))
+
+
+def _register_replicator_kitchen_background(asset_name: str, usda_path: Path) -> None:
+    """Register one ``replicator_<stem>`` background asset class."""
+    slug = asset_name.removeprefix("replicator_")
+    class_suffix = "".join(word.capitalize() for word in slug.split("_"))
+
+    @register_asset
+    class _ReplicatorKitchenEntry(ReplicatorKitchenBackground):
+        name = asset_name
+        usd_path = str(usda_path)
+
+        def __init__(self, **kwargs):
+            super().__init__(**kwargs)
+
+    _ReplicatorKitchenEntry.__name__ = f"Replicator{class_suffix}"
+    _ReplicatorKitchenEntry.__qualname__ = _ReplicatorKitchenEntry.__name__
+
+
+for _asset_name, _usda_path in _discover_replicator_kitchen_usda_paths().items():
+    _register_replicator_kitchen_background(_asset_name, _usda_path)
+
+
 @register_asset
 class MapleTableRobolab(LibraryBackground):
     """
diff --git a/isaaclab_arena/tests/test_replicator_background_discovery.py b/isaaclab_arena/tests/test_replicator_background_discovery.py
new file mode 100644
index 000000000..80ea6b3f5
--- /dev/null
+++ b/isaaclab_arena/tests/test_replicator_background_discovery.py
@@ -0,0 +1,25 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+def test_discover_replicator_kitchen_usda_paths_finds_flat_usda_files():
+    from isaaclab_arena.assets.background_library import _discover_replicator_kitchen_usda_paths
+
+    paths = _discover_replicator_kitchen_usda_paths()
+    assert paths["replicator_kitchen_l_shape"].name == "kitchen_l_shape.usda"
+    assert all(path.parent.name == "Replicator" for path in paths.values())
+    replicator_dir = paths["replicator_kitchen_l_shape"].parent
+    assert len(paths) == len(list(replicator_dir.glob("*.usda")))
+
+
+def test_replicator_kitchen_backgrounds_registered():
+    from isaaclab_arena.assets.registries import AssetRegistry, ensure_assets_registered
+
+    ensure_assets_registered()
+    registry = AssetRegistry()
+    assert registry.is_registered("replicator_kitchen_l_shape")
+    cls = registry.get_asset_by_name("replicator_kitchen_l_shape")
+    assert "replicator" in cls.tags
+    assert cls.usd_path.endswith("kitchen_l_shape.usda")
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_banana_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_banana_bowl.yaml
new file mode 100644
index 000000000..4aff6eb7e
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_banana_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_banana_to_bowl_kitchen_g_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_g_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: banana
+  registry_name: banana_ycb_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: corner_counter
+  parent_id: kitchen
+  prim_path: CornerCounter_00_0
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: corner_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: corner_counter
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: banana
+  reference: corner_counter
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: corner_counter
+  params: {}
+task:
+  composition: atomic
+  description: pick up the banana from the corner counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: banana
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_bowl_sink.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_bowl_sink.yaml
new file mode 100644
index 000000000..aaf6ce7b9
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_bowl_sink.yaml
@@ -0,0 +1,81 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_bowl_to_sink_kitchen_g_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_g_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: sink
+  parent_id: kitchen
+  prim_path: Sink/BasinBottom
+  object_type: base
+  params: {}
+- id: sink_counter
+  parent_id: kitchen
+  prim_path: CapSurface_02
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: sink
+  params: {}
+- kind: is_anchor
+  subject: sink_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: sink
+  params:
+    side: negative_x
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 0.0
+- kind: 'on'
+  subject: bowl
+  reference: sink_counter
+  params: {}
+- kind: next_to
+  subject: bowl
+  reference: sink
+  params:
+    side: positive_y
+    distance_m: 0.1
+task:
+  composition: atomic
+  description: pick up the bowl from the sink counter and place it in the sink
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: bowl
+      destination_location: sink
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_mustard_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_mustard_bowl.yaml
new file mode 100644
index 000000000..8dc74e04c
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_g_shape_mustard_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_mustard_to_bowl_kitchen_g_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_g_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: mustard_bottle
+  registry_name: mustard_bottle_hope_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: island_top
+  parent_id: kitchen
+  prim_path: CapSurface_03
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: island_top
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: island_top
+  params:
+    side: positive_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: -1.57
+- kind: 'on'
+  subject: mustard_bottle
+  reference: island_top
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: island_top
+  params: {}
+task:
+  composition: atomic
+  description: pick up the mustard bottle from the kitchen island and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: mustard_bottle
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_banana_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_banana_bowl.yaml
new file mode 100644
index 000000000..048576f88
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_banana_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_banana_to_bowl_kitchen_l_island
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_island
+  params:
+    collision_mode: mesh
+objects:
+- id: banana
+  registry_name: banana_ycb_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: corner_counter
+  parent_id: kitchen
+  prim_path: CornerCounter_00_0
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: corner_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: corner_counter
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: banana
+  reference: corner_counter
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: corner_counter
+  params: {}
+task:
+  composition: atomic
+  description: pick up the banana from the corner counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: banana
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_bowl_sink.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_bowl_sink.yaml
new file mode 100644
index 000000000..4db2cf517
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_bowl_sink.yaml
@@ -0,0 +1,81 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_bowl_to_sink_kitchen_l_island
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_island
+  params:
+    collision_mode: mesh
+objects:
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: sink
+  parent_id: kitchen
+  prim_path: Sink/BasinBottom
+  object_type: base
+  params: {}
+- id: sink_counter
+  parent_id: kitchen
+  prim_path: CapSurface
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: sink
+  params: {}
+- kind: is_anchor
+  subject: sink_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: sink
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: bowl
+  reference: sink_counter
+  params: {}
+- kind: next_to
+  subject: bowl
+  reference: sink
+  params:
+    side: negative_x
+    distance_m: 0.1
+task:
+  composition: atomic
+  description: pick up the bowl from the sink counter and place it in the sink
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: bowl
+      destination_location: sink
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_mustard_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_mustard_bowl.yaml
new file mode 100644
index 000000000..cee170fd5
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_island_mustard_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_mustard_to_bowl_kitchen_l_island
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_island
+  params:
+    collision_mode: mesh
+objects:
+- id: mustard_bottle
+  registry_name: mustard_bottle_hope_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: island_top
+  parent_id: kitchen
+  prim_path: CapSurface_03
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: island_top
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: island_top
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: mustard_bottle
+  reference: island_top
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: island_top
+  params: {}
+task:
+  composition: atomic
+  description: pick up the mustard bottle from the kitchen island and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: mustard_bottle
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_banana_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_banana_bowl.yaml
new file mode 100644
index 000000000..0eb558e27
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_banana_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_banana_to_bowl_kitchen_l_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: banana
+  registry_name: banana_ycb_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: corner_counter
+  parent_id: kitchen
+  prim_path: CornerCounter_00_0
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: corner_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: corner_counter
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: banana
+  reference: corner_counter
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: corner_counter
+  params: {}
+task:
+  composition: atomic
+  description: pick up the banana from the corner counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: banana
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_bowl_sink.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_bowl_sink.yaml
new file mode 100644
index 000000000..9d0e888a6
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_bowl_sink.yaml
@@ -0,0 +1,81 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_bowl_to_sink_kitchen_l_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: sink
+  parent_id: kitchen
+  prim_path: Sink/BasinBottom
+  object_type: base
+  params: {}
+- id: sink_counter
+  parent_id: kitchen
+  prim_path: CapSurface_02
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: sink
+  params: {}
+- kind: is_anchor
+  subject: sink_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: sink
+  params:
+    side: positive_x
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 3.14
+- kind: 'on'
+  subject: bowl
+  reference: sink_counter
+  params: {}
+- kind: next_to
+  subject: bowl
+  reference: sink
+  params:
+    side: negative_y
+    distance_m: 0.1
+task:
+  composition: atomic
+  description: pick up the bowl from the counter next to the sink and place it in the sink
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: bowl
+      destination_location: sink
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_mustard_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_mustard_bowl.yaml
new file mode 100644
index 000000000..51ffebf97
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_l_shape_mustard_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_mustard_to_bowl_kitchen_l_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_l_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: mustard_bottle
+  registry_name: mustard_bottle_hope_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: counter_top
+  parent_id: kitchen
+  prim_path: CapSurface
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: counter_top
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: counter_top
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: mustard_bottle
+  reference: counter_top
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: counter_top
+  params: {}
+task:
+  composition: atomic
+  description: pick up the mustard bottle from the counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: mustard_bottle
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_bowl_sink.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_bowl_sink.yaml
new file mode 100644
index 000000000..068bff3ab
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_bowl_sink.yaml
@@ -0,0 +1,81 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_bowl_to_sink_kitchen_peninsula
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_peninsula
+  params:
+    collision_mode: mesh
+objects:
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: sink
+  parent_id: kitchen
+  prim_path: Sink/BasinBottom
+  object_type: base
+  params: {}
+- id: sink_counter
+  parent_id: kitchen
+  prim_path: CapSurface_01
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: sink
+  params: {}
+- kind: is_anchor
+  subject: sink_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: sink
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: bowl
+  reference: sink_counter
+  params: {}
+- kind: next_to
+  subject: bowl
+  reference: sink
+  params:
+    side: negative_x
+    distance_m: 0.1
+task:
+  composition: atomic
+  description: pick up the bowl from the sink counter and place it in the sink
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: bowl
+      destination_location: sink
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_mustard_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_mustard_bowl.yaml
new file mode 100644
index 000000000..8a84aebc6
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_peninsula_mustard_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_mustard_to_bowl_kitchen_peninsula
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_peninsula
+  params:
+    collision_mode: mesh
+objects:
+- id: mustard_bottle
+  registry_name: mustard_bottle_hope_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: island_top
+  parent_id: kitchen
+  prim_path: CapSurface_02
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: island_top
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: island_top
+  params:
+    side: positive_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: -1.57
+- kind: 'on'
+  subject: mustard_bottle
+  reference: island_top
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: island_top
+  params: {}
+task:
+  composition: atomic
+  description: pick up the mustard bottle from the island counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: mustard_bottle
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_banana_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_banana_bowl.yaml
new file mode 100644
index 000000000..d0bff47dd
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_banana_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_banana_to_bowl_kitchen_u_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_u_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: banana
+  registry_name: banana_ycb_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: corner_counter
+  parent_id: kitchen
+  prim_path: CornerCounter_00_0
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: corner_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: corner_counter
+  params:
+    side: negative_y
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 1.57
+- kind: 'on'
+  subject: banana
+  reference: corner_counter
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: corner_counter
+  params: {}
+task:
+  composition: atomic
+  description: pick up the banana from the corner counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: banana
+      destination_location: bowl
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_bowl_sink.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_bowl_sink.yaml
new file mode 100644
index 000000000..58a1c55b2
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_bowl_sink.yaml
@@ -0,0 +1,81 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_bowl_to_sink_kitchen_u_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_u_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: sink
+  parent_id: kitchen
+  prim_path: Sink/BasinBottom
+  object_type: base
+  params: {}
+- id: sink_counter
+  parent_id: kitchen
+  prim_path: CapSurface_01
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: sink
+  params: {}
+- kind: is_anchor
+  subject: sink_counter
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: sink
+  params:
+    side: positive_x
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 3.14
+- kind: 'on'
+  subject: bowl
+  reference: sink_counter
+  params: {}
+- kind: next_to
+  subject: bowl
+  reference: sink
+  params:
+    side: negative_y
+    distance_m: 0.1
+task:
+  composition: atomic
+  description: pick up the bowl from the sink counter and place it in the sink
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: bowl
+      destination_location: sink
+      background_scene: kitchen
diff --git a/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_mustard_bowl.yaml b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_mustard_bowl.yaml
new file mode 100644
index 000000000..4dcb96b74
--- /dev/null
+++ b/isaaclab_arena_environments/kitchen_bench/replicator_kitchen_u_shape_mustard_bowl.yaml
@@ -0,0 +1,74 @@
+# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+env_name: droid_mustard_to_bowl_kitchen_u_shape
+embodiment:
+  id: droid
+  registry_name: droid_abs_joint_pos
+  params:
+    stand_height_m: 0.8
+    placement_bbox_stand_only: true
+background:
+  id: kitchen
+  registry_name: replicator_kitchen_u_shape
+  params:
+    collision_mode: mesh
+objects:
+- id: mustard_bottle
+  registry_name: mustard_bottle_hope_robolab
+  params: {}
+- id: bowl
+  registry_name: bowl_ycb_robolab
+  params: {}
+object_references:
+- id: floor
+  parent_id: kitchen
+  prim_path: KitchenRoom/Floor
+  object_type: base
+  params: {}
+- id: counter_top
+  parent_id: kitchen
+  prim_path: CapSurface_03
+  object_type: base
+  params: {}
+relations:
+- kind: is_anchor
+  subject: floor
+  params: {}
+- kind: is_anchor
+  subject: counter_top
+  params: {}
+- kind: 'on'
+  subject: droid
+  reference: floor
+  params: {}
+- kind: next_to
+  subject: droid
+  reference: counter_top
+  params:
+    side: negative_x
+    distance_m: 0.15
+    tolerance_m: 0.15
+- kind: rotate_around_solution
+  subject: droid
+  params:
+    yaw_rad: 0.0
+- kind: 'on'
+  subject: mustard_bottle
+  reference: counter_top
+  params: {}
+- kind: 'on'
+  subject: bowl
+  reference: counter_top
+  params: {}
+task:
+  composition: atomic
+  description: pick up the mustard bottle from the counter and place it in the bowl
+  subtasks:
+  - kind: PickAndPlaceTask
+    params:
+      pick_up_object: mustard_bottle
+      destination_location: bowl
+      background_scene: kitchen