Add Replicator kitchen example assets and yamls - #965

Greptile Summary

The PR adds five hosted Replicator kitchen backgrounds and fourteen DROID pick-and-place environment specifications.

• Registers G-shape, L-island, L-shape, peninsula, and U-shape kitchen assets.
• Configures mesh-based background collision and fixed kitchen-surface references.
• Adds banana-to-bowl, mustard-to-bowl, and bowl-to-sink task variants across the available layouts.

Confidence Score: 5/5

The PR appears safe to merge with no concrete changed-code defects identified.

The new backgrounds follow the existing registry and constructor contracts, and the environment specifications use valid registered assets, relation shapes, node references, and pick-and-place task parameters.

Important Files Changed

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  YAML[Kitchen environment YAML] --> Registry[Asset registry]
  Registry --> Background[Replicator kitchen background]
  YAML --> References[Floor, counter, and sink references]
  Background --> References
  References --> Solver[Relation and mesh-collision placement]
  YAML --> Task[PickAndPlaceTask]
  Solver --> Environment[Runnable IsaacLab environment]
  Task --> Environment

_{Reviews (1): Last reviewed commit: "Add Replicator kitchen environments" | Re-trigger Greptile}

🤖 Isaac Lab-Arena Review Bot

Summary

This PR registers five hosted Replicator kitchen backgrounds in background_library.py and adds 14 pick-and-place env YAMLs under kitchen_bench/. It is almost entirely declarative data: the new background classes cleanly follow the existing LibraryBackground pattern, and the YAMLs mirror the established droid_pick_and_place_lightwheel_kitchen.yaml shape. No boundary, layering, or silent-failure concerns. Copyright years are correct (new YAMLs carry 2026; the touched background_library.py header stays 2025-2026).

Findings

🟡 Warning: replicator_kitchen_*_banana_bowl.yaml — The four banana_bowl configs are byte-identical except env_name and the kitchen registry_name; they place the banana on CornerCounter_00_0 with the same relation params across four differently-shaped kitchens. The mustard and bowl_sink variants were tuned per kitchen, so this stands out — worth confirming the placement is valid in all four layouts, and (if so) whether these could be generated from one template to avoid silent drift. (Inline.)

Test Coverage

No new code paths — these are data configs consumed by the existing env builder. Good news: tests/test_kitchen_bench_yaml_env.py globs kitchen_bench/*.yaml and parametrizes a build-and-reset sim bring-up over every file, so all 14 new YAMLs are automatically exercised (parse → build → reset, asserting the robot is in the scene). That test is the right safety net for bad prim paths or broken relations; just make sure it runs green in the sim phase for this branch, since the PR-level CI here only covers pre-commit/uv.

Verdict

Ship it — one optional consistency question on the banana_bowl set.

It's not a full benchmark yet, so we are half way there with "bench"