add isaac sim 2023 support and dockerfiles

examples/isaac_sim/batch_collision_checker.py

@@ -17,51 +17,48 @@ a = torch.zeros(4, device="cuda:0")
 
 # Standard Library
 
+# Standard Library
+import argparse
+
 # Third Party
 from omni.isaac.kit import SimulationApp
 
-# CuRobo
-# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
-from curobo.geom.sdf.world import CollisionCheckerType
-from curobo.geom.types import WorldConfig
-from curobo.types.base import TensorDeviceType
-from curobo.types.math import Pose
-from curobo.util_file import get_world_configs_path, join_path, load_yaml
-from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
+parser = argparse.ArgumentParser()
+
+parser.add_argument(
+    "--headless_mode",
+    type=str,
+    default=None,
+    help="To run headless, use one of [native, websocket], webrtc might not work.",
+)
+args = parser.parse_args()
 
 simulation_app = SimulationApp(
     {
-        "headless": False,
+        "headless": args.headless_mode is not None,
         "width": "1920",
         "height": "1080",
     }
 )
-# Third Party
-from omni.isaac.core.utils.extensions import enable_extension
-
-ext_list = [
-    "omni.kit.asset_converter",
-    # "omni.kit.livestream.native",
-    "omni.kit.tool.asset_importer",
-    "omni.isaac.asset_browser",
-]
-[enable_extension(x) for x in ext_list]
-
-
 # Third Party
 import carb
 import numpy as np
+from helper import add_extensions
 from omni.isaac.core import World
 from omni.isaac.core.materials import OmniPBR
-from omni.isaac.core.objects import cuboid, sphere
-
-########### OV #################
-from omni.isaac.core.utils.extensions import enable_extension
-from omni.isaac.core.utils.types import ArticulationAction
+from omni.isaac.core.objects import sphere
 
 # CuRobo
+# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+from curobo.geom.types import WorldConfig
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
 from curobo.util.logger import setup_curobo_logger
 from curobo.util.usd_helper import UsdHelper
+from curobo.util_file import get_world_configs_path, join_path, load_yaml
+from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
+
+########### OV #################
 
 
 def main():
@@ -79,10 +76,7 @@ def main():
     stage.SetDefaultPrim(xform)
     stage.DefinePrim("/curobo", "Xform")
 
-    # my_world.stage.SetDefaultPrim(my_world.stage.GetPrimAtPath("/World"))
     stage = my_world.stage
-    # stage.SetDefaultPrim(stage.GetPrimAtPath("/World"))
-    # Make a target to follow
     target_list = []
     target_material_list = []
     offset_x = 3.5
@@ -131,6 +125,7 @@ def main():
     x_sph = torch.zeros((n_envs, 1, 1, 4), device=tensor_args.device, dtype=tensor_args.dtype)
     x_sph[..., 3] = radius
     env_query_idx = torch.arange(n_envs, device=tensor_args.device, dtype=torch.int32)
+    add_extensions(simulation_app, args.headless_mode)
     while simulation_app.is_running():
         my_world.step(render=True)
         if not my_world.is_playing():