Unify Isaac Lab assets with Isaac Sim

[stevfeng]

Description

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Fixes # (issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

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• I have read and understood the contribution guidelines
• 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
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[Mayankm96]

How was the asset verification done? Did you run training on a proper set of environments and made sure they all train exactly the same?

[Mayankm96]

Concerns with how asset generation was done and verifed. This is a big change.

[stevfeng]

Concerns with how asset generation was done and verifed. This is a big change.

How was the asset verification done? Did you run training on a proper set of environments and made sure they all train exactly the same?

Matthew helped me verify all these assets using a benchmark with 2 main metrics: rewards and duration. We verified that all the tasks have similar metrics as before

@matthewtrepte to provide more details as well