Adds event term for visual texture randomization

[Mayankm96]

Description

This MR adds a new event term that allows randomizing textures of bodies in an asset using the Replicator API. It is a basic implementation that needs the following improvements:

• Support for other parameters provided by the replicator API
• Triggering the omnigraph for a subset of environment indices

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

An example configuration:

    object_panel_visual_texture = EventTerm(
        func=mdp.randomize_visual_texture,
        mode="scene",
        params={
            "asset_cfg": SceneEntityCfg("door", body_names=["door_panel"]),
            "texture_paths": [
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Bamboo_Planks/Bamboo_Planks_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Cherry/Cherry_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Oak/Oak_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber/Timber_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber_Cladding/Timber_Cladding_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Walnut_Planks/Walnut_Planks_BaseColor.png",
            ],
            "event_name": "object_panel_visual_texture",
            "texture_rotation": (math.pi / 2, math.pi / 2),
        },
    )

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[kellyguo11]

Thanks for the addition! Do you also have an example script that we can include in the PR to help users get started with this feature? and looks like we need a pre-commit run :)

[jtigue-bdai]

Does this pattern still hold if a user imports a USD file. Or does everything after "{asset_prim_path}/...." just follow how the USD was setup?

[jtigue-bdai]

should do a warning for this this behavior?