Examples use object placement api

[cvolkcvolk]

Summary

gr1_turn_stand_mixer_knob
franka_put_and_close_door
gr1_open_microwave

XXX press_button --> Does not start up
XXX galileo_pick_and_place --> Cannot use prim in shelve
XXX galileo_g1_locomanip_pick_and_place:

Simulation length: 100
  0%|                                                                                                  | 0/100 [00:00<?, ?it/s]
Closing simulation app
Exception caught in SimulationAppContext: RuntimeError: Error rolling out policy: Found zero norm quaternions in `quat`.
Traceback:
Traceback (most recent call last):
  File "/workspaces/isaaclab_arena/isaaclab_arena/evaluation/policy_runner.py", line 60, in rollout_policy
    obs, _, terminated, truncated, _ = env.step(actions)
                                       ^^^^^^^^^^^^^^^^^
  File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 174, in step
    self.action_manager.process_action(action.to(self.device))
  File "/workspaces/isaaclab_arena/submodules/IsaacLab/source/isaaclab/isaaclab/managers/action_manager.py", line 391, in process_action
    term.process_actions(term_actions)
  File "/workspaces/isaaclab_arena/isaaclab_arena_g1/g1_env/mdp/actions/g1_decoupled_wbc_pink_action.py", line 225, in process_actions
    left_rotmat = R.from_quat(left_arm_quat).as_matrix()
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "_rotation.pyx", line 1007, in scipy.spatial.transform._rotation.Rotation.from_quat
  File "_rotation.pyx", line 865, in scipy.spatial.transform._rotation.Rotation.__init__
ValueError: Found zero norm quaternions in `quat`.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/workspaces/isaaclab_arena/isaaclab_arena/evaluation/policy_runner.py", line 126, in main
    metrics = rollout_policy(env, policy, num_steps)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/workspaces/isaaclab_arena/isaaclab_arena/evaluation/policy_runner.py", line 72, in rollout_policy
    raise RuntimeError(f"Error rolling out policy: {e}")
RuntimeError: Error rolling out policy: Found zero norm quaternions in `quat`.
Killing the process without cleaning up
There was an error running python