add isaac sim 2023 support and dockerfiles

docker/build_dev_docker.sh

@@ -12,21 +12,35 @@
 
 
 # This script will create a dev docker. Run this script by calling `bash build_dev_docker.sh`
-
-# Make sure you have pulled all required repos into pkgs folder (see pull_repos.sh script)
+# If you want to build a isaac sim docker, run this script with `bash build_dev_docker.sh isaac`
 
 # Check architecture to build:
 arch=`uname -m`
 
-if [ ${arch} == "x86_64" ]; then
+image_tag="x86"
+isaac_sim_version=""
+
+if [ $1 == "isaac_sim_2022.2.1" ]; then
+    echo "Building Isaac Sim docker"
+    dockerfile="isaac_sim.dockerfile"
+    image_tag="isaac_sim_2022.2.1"
+    isaac_sim_version="2022.2.1"
+elif [ $1 == "isaac_sim_2023.1.0" ]; then
+    echo "Building Isaac Sim headless docker"
+    dockerfile="isaac_sim.dockerfile"
+    image_tag="isaac_sim_2023.1.0"
+    isaac_sim_version="2023.1.0"
+elif [ ${arch} == "x86" ]; then
     echo "Building for X86 Architecture"
     dockerfile="x86.dockerfile"
+    image_tag="x86"
 elif [ ${arch} = "aarch64" ]; then
     echo "Building for ARM Architecture"
-    dockerfile="arm64.dockerfile"
+    dockerfile="aarch64.dockerfile"
+    image_tag="aarch64"
 else
-    echo "Unknown Architecture, defaulting to " + ${arch}
-    dockerfile="x86.dockerfile"
+    echo "Unknown Architecture"
+    exit
 fi
 
 # build docker file:
@@ -43,4 +57,5 @@ fi
 # }
 # 
 echo "${dockerfile}"
-docker build -t curobo_docker:latest -f ${dockerfile} .
+
+docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} .