add isaac sim 2023 support and dockerfiles

examples/isaac_sim/ik_reachability.py

@@ -17,25 +17,12 @@ a = torch.zeros(4, device="cuda:0")
 # Standard Library
 import argparse
 
-# CuRobo
-from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel
-
-# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
-from curobo.geom.sdf.world import CollisionCheckerType
-from curobo.geom.types import WorldConfig
-from curobo.rollout.rollout_base import Goal
-from curobo.types.base import TensorDeviceType
-from curobo.types.math import Pose
-from curobo.types.robot import JointState, RobotConfig
-from curobo.types.state import JointState
-from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
-from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
-from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
-from curobo.wrap.reacher.mpc import MpcSolver, MpcSolverConfig
-
 parser = argparse.ArgumentParser()
 parser.add_argument(
-    "--headless", action="store_true", help="When True, enables headless mode", default=False
+    "--headless_mode",
+    type=str,
+    default=None,
+    help="To run headless, use one of [native, websocket], webrtc might not work.",
 )
 parser.add_argument(
     "--visualize_spheres",
@@ -54,52 +41,49 @@ from omni.isaac.kit import SimulationApp
 
 simulation_app = SimulationApp(
     {
-        "headless": args.headless,
+        "headless": args.headless_mode is not None,
         "width": "1920",
         "height": "1080",
     }
 )
-# Third Party
-from omni.isaac.core.utils.extensions import enable_extension
-
-# CuRobo
-from curobo.util_file import (
-    get_assets_path,
-    get_filename,
-    get_path_of_dir,
-    get_robot_configs_path,
-    join_path,
-    load_yaml,
-)
-
-ext_list = [
-    "omni.kit.asset_converter",
-    # "omni.kit.livestream.native",
-    "omni.kit.tool.asset_importer",
-    "omni.isaac.asset_browser",
-    "omni.isaac.urdf",
-]
-[enable_extension(x) for x in ext_list]
-simulation_app.update()
-
 # Standard Library
 from typing import Dict
 
 # Third Party
 import carb
 import numpy as np
-from helper import add_robot_to_scene
+from helper import add_extensions, add_robot_to_scene
 from omni.isaac.core import World
 from omni.isaac.core.objects import cuboid, sphere
-from omni.isaac.core.robots import Robot
-
-########### OV #################
-from omni.isaac.core.utils.extensions import enable_extension
-from omni.isaac.core.utils.types import ArticulationAction
 
 # CuRobo
+from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel
+
+# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+from curobo.geom.sdf.world import CollisionCheckerType
+from curobo.geom.types import WorldConfig
+from curobo.rollout.rollout_base import Goal
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
+from curobo.types.robot import JointState, RobotConfig
+from curobo.types.state import JointState
 from curobo.util.logger import setup_curobo_logger
 from curobo.util.usd_helper import UsdHelper
+from curobo.util_file import (
+    get_assets_path,
+    get_filename,
+    get_path_of_dir,
+    get_robot_configs_path,
+    get_world_configs_path,
+    join_path,
+    load_yaml,
+)
+from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
+from curobo.wrap.reacher.mpc import MpcSolver, MpcSolverConfig
+
+########### OV #################
+
 
 ############################################################
 
@@ -225,6 +209,7 @@ def main():
     result = ik_solver.solve_batch(goal_pose)
 
     print("Curobo is Ready")
+    add_extensions(simulation_app, args.headless_mode)
 
     usd_help.load_stage(my_world.stage)
     usd_help.add_world_to_stage(world_cfg, base_frame="/World")
@@ -246,7 +231,7 @@ def main():
 
         step_index = my_world.current_time_step_index
         # print(step_index)
-        if step_index == 0:
+        if step_index <= 2:
             my_world.reset()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)