[Proposal] Integrate ReplicaCAD Scenes as USD Files for Use in IsaacLab

[makolon]

Proposal

Convert ReplicaCAD scenes to USD files and ensure they can be loaded into IsaacLab. This proposal aims to leverage ReplicaCAD scenes, which are used by ManiSkill3, to create diverse simulation environments in IsaacLab.

Motivation

The primary motivation for this proposal is to enable the use of ReplicaCAD scenes within IsaacLab, allowing for enhanced realism and variety in simulation environments. Converting these scenes to USD format and ensuring their compatibility with IsaacLab will allow for more advanced manipulation tasks. ManiSkill3's usage of ReplicaCAD scenes can serve as a useful reference for this implementation.

Alternatives

An alternative approach could involve manually creating new scenes in IsaacLab. However, this would likely be more time-intensive and less varied compared to using ReplicaCAD scenes directly.

Additional context

To confirm the successful conversion, the USD files should be loaded into Isaac Sim, where scene accuracy can be verified. Additionally, the converted scenes should be accessible from Python scripts within IsaacLab to facilitate flexible environment setup.

Checklist

• I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

• Successful conversion of ReplicaCAD scenes to USD format.
• Verification that the USD scenes can be accurately loaded into Isaac Sim.
• Confirmation that the scenes can be loaded and utilized within IsaacLab using Python scripts.