add isaac sim 2023 support and dockerfiles

examples/isaac_sim/load_all_robots.py

@@ -22,30 +22,13 @@ import argparse
 # Third Party
 from omni.isaac.kit import SimulationApp
 
-# CuRobo
-from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelConfig
-
-# 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.types.robot import RobotConfig
-from curobo.types.state import JointState
-from curobo.util_file import (
-    get_motion_gen_robot_list,
-    get_robot_configs_path,
-    get_robot_path,
-    get_world_configs_path,
-    join_path,
-    load_yaml,
-)
-from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
-from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
-
 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",
@@ -57,38 +40,31 @@ parser.add_argument(
 args = parser.parse_args()
 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
-
-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_robot_to_scene
+from helper import add_extensions, add_robot_to_scene
 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.cuda_robot_model.cuda_robot_model import CudaRobotModel
+
+# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
+from curobo.types.robot import RobotConfig
+
+########### OV #################
 from curobo.util.logger import setup_curobo_logger
 from curobo.util.usd_helper import UsdHelper
+from curobo.util_file import get_motion_gen_robot_list, get_robot_configs_path, join_path, load_yaml
 
 
 def main():
@@ -153,6 +129,7 @@ def main():
 
     setup_curobo_logger("warn")
 
+    add_extensions(simulation_app, args.headless_mode)
     while simulation_app.is_running():
         my_world.step(render=True)
 
@@ -163,7 +140,7 @@ def main():
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index == 0:
+        if step_index <= 2:
             my_world.reset()
             for ri, robot in enumerate(robot_list):
                 j_names = robot_cfg_list[ri]["kinematics"]["cspace"]["joint_names"]