Add Replicator kitchen example assets - #965
Draft
qianl-nv wants to merge 2 commits into
Draft
Conversation
Discover Replicator/seed_* USDA floorplans and register them as replicator_kitchen_<seed> background assets with a framing viewer cfg. Signed-off-by: Qian Lin <qianl@nvidia.com>
qianl-nv
force-pushed
the
qianl/feature/replicator-example
branch
from
July 31, 2026 17:08
5a1398f to
48f8ac8
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Add Replicator kitchen example assets
Detailed description
replicator_kitchen_<seed>backgroundsreplicator_kitchen_1001env graph YAML for relation-solved robot placement examplesDownload sample asset from https://drive.google.com/file/d/1LKeKON2Ts038UUvYBL6BQBMnjUaFctYk/view?usp=drive_link
and place it under IsaacLab-Arena/Replicator folder
Prompt: "there is a north counter top and a floor in the replicator_kitchen_1001 background. droid is on the floor and next to the north counter top. droid picks up a ranch bottle on the counter top, and place it in a bowl"
Placement parents are manually edited.
/isaac-sim/python.sh isaaclab_arena/evaluation/policy_runner.py --viz kit --policy_type isaaclab_arena_openpi.policy.pi0_remote_policy.Pi0RemotePolicy --num_episodes 2 --enable_cameras --record_viewport_video --output_base_dir output/kitchen_task --env_graph_spec_yaml isaaclab_arena_environments/replicator_kitchen_1001.yaml
Note: Lab needs this patch qianl-nv/IsaacLab@7453e6b
to support xformOp:scale:_sz. Can drop the patch if Replicator uses xformOp:scale only in newer version