Bug Fixes, Add Isaac Sim 4.5 support for examples

examples/isaac_sim/batch_motion_gen_reacher.py

@@ -126,9 +126,11 @@ def main():
             "/World/world_" + str(i) + "/",
             robot_name="robot_" + str(i),
             position=pose.position[0].cpu().numpy(),
+            initialize_world=False,
         )
         robot_list.append(r[0])
     setup_curobo_logger("warn")
+    my_world.initialize_physics()
 
     # warmup curobo instance
 
@@ -195,9 +197,10 @@ def main():
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
             for robot in robot_list:
+                robot._articulation_view.initialize()
                 idx_list = [robot.get_dof_index(x) for x in j_names]
                 robot.set_joint_positions(default_config, idx_list)
 
@@ -223,6 +226,8 @@ def main():
             past_goal = ik_goal.clone()
         sim_js_names = robot_list[0].dof_names
         sim_js = robot_list[0].get_joints_state()
+        if sim_js is None:
+            continue
         full_js = JointState(
             position=tensor_args.to_device(sim_js.positions).view(1, -1),
             velocity=tensor_args.to_device(sim_js.velocities).view(1, -1) * 0.0,