Fixes setting of pose when spawning a mesh (#692)

# Description

This MR removes the additional translation and orientation applied when
creating the mesh prim under the parent Xform prim.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

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

CONTRIBUTORS.md

@@ -44,6 +44,7 @@ Guidelines for modifications:
 * Johnson Sun
 * Kourosh Darvish
 * Lorenz Wellhausen
+* Masoud Moghani
 * Muhong Guo
 * Nuralem Abizov
 * Özhan Özen

source/extensions/omni.isaac.lab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.20.2"
+version = "0.20.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.20.3 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the setting of translation and orientation when spawning a mesh prim. Earlier, the translation
+  and orientation was being applied both on the parent Xform and the mesh prim. This was causing the
+  mesh prim to be offset by the translation and orientation of the parent Xform, which is not the intended
+  behavior.
+
+
 0.20.2 (2024-08-02)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/meshes/meshes.py

@@ -300,8 +300,6 @@ def _spawn_mesh_geom_from_mesh(
     mesh_prim = prim_utils.create_prim(
         mesh_prim_path,
         prim_type="Mesh",
-        translation=translation,
-        orientation=orientation,
         scale=scale,
         attributes={
             "points": mesh.vertices,

source/standalone/tutorials/00_sim/spawn_prims.py

@@ -71,7 +71,7 @@ def design_scene():
         visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
     )
     cfg_cone_rigid.func(
-        "/World/Objects/ConeRigid", cfg_cone_rigid, translation=(0.0, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
+        "/World/Objects/ConeRigid", cfg_cone_rigid, translation=(-0.2, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
     )
 
     # spawn a blue cuboid with deformable body