add isaac sim 2023 support and dockerfiles

docker/start_docker.sh

@@ -0,0 +1,62 @@
+#!/bin/bash
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+if [ $1 == "x86" ]; then
+
+    docker run --rm -it \
+    --privileged \
+    -e NVIDIA_DISABLE_REQUIRE=1 \
+    -e NVIDIA_DRIVER_CAPABILITIES=all  --device /dev/dri \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --gpus all \
+    --network host \
+    --env DISPLAY=unix$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev:/dev \
+    curobo_docker:$1
+
+elif [ $1 == "aarch64" ]; then
+
+    docker run --rm -it \
+    --runtime nvidia \
+    --hostname ros1-docker \
+    --add-host ros1-docker:127.0.0.1 \
+    --network host \
+    --gpus all \
+    --env ROS_HOSTNAME=localhost \
+    --env DISPLAY=$DISPLAY \
+    --volume /tmp/.X11-unix:/tmp/.X11-unix \
+    --volume /dev/input:/dev/input \
+    curobo_docker:$1
+
+elif [[ $1 == *isaac_sim* ]] ; then
+
+    docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
+        --privileged \
+        -e "PRIVACY_CONSENT=Y" \
+        -v $HOME/.Xauthority:/root/.Xauthority \
+        -e DISPLAY \
+        -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
+        -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
+        -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
+        -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
+        -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
+        -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
+        -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
+        -v ~/docker/isaac-sim/documents:/root/Documents:rw \
+        --volume /dev:/dev \
+        curobo_docker:$1
+
+else
+    echo "Unknown docker"
+fi