Isaac Sim 4.0 support, Kinematics API doc, Windows support

docker/aarch64.dockerfile

@@ -124,15 +124,16 @@ RUN pip3 install trimesh \
   numpy-quaternion \
   networkx \
   pyyaml \
-  rospkg \ 
+  rospkg \
   rosdep \
   empy
 
 # Add cache date to avoid using cached layers older than this
-ARG CACHE_DATE=2024-04-11
+ARG CACHE_DATE=2024-07-19
+
 
 # install warp:
-# 
+#
 RUN pip3 install warp-lang
 
 # install curobo:
@@ -165,7 +166,7 @@ RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
     sh install.sh $(python3 -c 'import torch.utils; print(torch.utils.cmake_prefix_path)') && \
     python3 -m pip install -e .
 
-  
+
 RUN python3 -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
 # upgrade typing extensions:

docker/build_dev_docker.sh

@@ -35,4 +35,4 @@ fi
 echo $input_arg
 echo $USER_ID
 
-docker build --build-arg USERNAME=$USER --build-arg USER_ID=${USER_ID} --build-arg IMAGE_TAG=$input_arg -f $user_dockerfile --tag curobo_docker:user_$input_arg . 
+docker build --build-arg USERNAME=$USER --build-arg USER_ID=${USER_ID} --build-arg IMAGE_TAG=$input_arg -f $user_dockerfile --tag curobo_docker:user_$input_arg .

docker/build_docker.sh

@@ -32,16 +32,11 @@ if [ -z "$input_arg" ]; then
     fi
 fi
 
-if [ "$input_arg" == "isaac_sim_2022.2.1" ]; then
-    echo "Building Isaac Sim docker"
-    dockerfile="isaac_sim.dockerfile"
-    image_tag="isaac_sim_2022.2.1"
-    isaac_sim_version="2022.2.1"
-elif [ "$input_arg" == "isaac_sim_2023.1.0" ]; then
+if [ "$input_arg" == "isaac_sim_4.0.0" ]; then
     echo "Building Isaac Sim headless docker"
     dockerfile="isaac_sim.dockerfile"
-    image_tag="isaac_sim_2023.1.0"
-    isaac_sim_version="2023.1.0"
+    image_tag="isaac_sim_4.0.0"
+    isaac_sim_version="4.0.0"
 elif [ "$input_arg" == "x86" ]; then
     echo "Building for X86 Architecture"
     dockerfile="x86.dockerfile"
@@ -63,11 +58,11 @@ fi
 #        "nvidia": {
 #            "path": "/usr/bin/nvidia-container-runtime",
 #            "runtimeArgs": []
-#         } 
+#         }
 #    },
 #    "default-runtime": "nvidia" # ADD this line (the above lines will already exist in your json file)
 # }
-# 
+#
 echo "${dockerfile}"
 
-docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} . 
+docker build --build-arg ISAAC_SIM_VERSION=${isaac_sim_version} -t curobo_docker:${image_tag} -f ${dockerfile} .

docker/isaac_sim.dockerfile

@@ -11,7 +11,7 @@
 ARG DEBIAN_FRONTEND=noninteractive
 ARG BASE_DIST=ubuntu20.04
 ARG CUDA_VERSION=11.4.2
-ARG ISAAC_SIM_VERSION=2022.2.1
+ARG ISAAC_SIM_VERSION=4.0.0
 
 
 FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION} AS isaac-sim
@@ -20,7 +20,7 @@ FROM nvcr.io/nvidia/cudagl:${CUDA_VERSION}-devel-${BASE_DIST}
 
 
 # this does not work for 2022.2.1
-#$FROM nvcr.io/nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-${BASE_DIST} 
+#$FROM nvcr.io/nvidia/cuda:${CUDA_VERSION}-cudnn8-devel-${BASE_DIST}
 
 LABEL maintainer "User Name"
 
@@ -102,7 +102,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 RUN wget -q --show-progress \
     --progress=bar:force:noscroll \
     https://sdk.lunarg.com/sdk/download/${VULKAN_SDK_VERSION}/linux/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \
-    -O /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \ 
+    -O /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz \
     && echo "Installing Vulkan SDK ${VULKAN_SDK_VERSION}" \
     && mkdir -p /opt/vulkan \
     && tar -xf /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz -C /opt/vulkan \
@@ -118,7 +118,7 @@ RUN wget -q --show-progress \
     && rm /tmp/vulkansdk-linux-x86_64-${VULKAN_SDK_VERSION}.tar.gz && rm -rf /opt/vulkan
 
 
-# Setup the required capabilities for the container runtime    
+# Setup the required capabilities for the container runtime
 ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
 
 # Open ports for live streaming
@@ -157,16 +157,15 @@ ENV TORCH_CUDA_ARCH_LIST="7.0+PTX"
 # create an alias for omniverse python
 ENV omni_python='/isaac-sim/python.sh'
 
-RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /.bashrc
+RUN echo "alias omni_python='/isaac-sim/python.sh'" >> ~/.bashrc
 
 
 # Add cache date to avoid using cached layers older than this
 ARG CACHE_DATE=2024-04-11
 
-RUN $omni_python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
 
 # if you want to use a different version of curobo, create folder as docker/pkgs and put your
-# version of curobo there. Then uncomment below line and comment the next line that clones from 
+# version of curobo there. Then uncomment below line and comment the next line that clones from
 # github
 
 # COPY pkgs /pkgs

docker/start_docker.sh

@@ -56,6 +56,7 @@ elif [ "$input_arg" == "aarch64" ]; then
 
 elif [[ "$input_arg" == *isaac_sim* ]] ; then
 
+
     docker run --name container_$input_arg --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
         --privileged \
         -e "PRIVACY_CONSENT=Y" \

docker/user.dockerfile

@@ -15,7 +15,7 @@ FROM curobo_docker:${IMAGE_TAG}
 # Set variables
 ARG USERNAME
 ARG USER_ID
-ARG CACHE_DATE=2024-04-25
+ARG CACHE_DATE=2024-07-19
 
 # Set environment variables
 

docker/user_isaac_sim.dockerfile

@@ -10,11 +10,13 @@
 ##
 
 # Check architecture and load:
-ARG IMAGE_TAG 
+ARG IMAGE_TAG
 FROM curobo_docker:${IMAGE_TAG}
 # Set variables
 ARG USERNAME
 ARG USER_ID
+ARG CACHE_DATE=2024-07-19
+
 
 # Set environment variables
 
@@ -44,7 +46,7 @@ RUN chown -R $USERNAME:users /isaac-sim/exts/omni.isaac.synthetic_recorder/
 RUN chown -R $USERNAME:users /isaac-sim/kit/exts/omni.gpu_foundation
 RUN mkdir -p /home/$USERNAME/.cache && cp -r /root/.cache/* /home/$USERNAME/.cache && chown -R $USERNAME:users /home/$USERNAME/.cache
 RUN mkdir -p /isaac-sim/kit/data/documents/Kit && mkdir -p /isaac-sim/kit/data/documents/Kit/apps/Isaac-Sim/scripts/ &&chown -R $USERNAME:users /isaac-sim/kit/data/documents/Kit /isaac-sim/kit/data/documents/Kit/apps/Isaac-Sim/scripts/
-RUN mkdir -p /home/$USERNAME/.local 
+RUN mkdir -p /home/$USERNAME/.local
 
 
 RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /home/$USERNAME/.bashrc

docker/x86.dockerfile

@@ -78,7 +78,7 @@ ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
 ENV LD_LIBRARY_PATH="/usr/local/lib:${LD_LIBRARY_PATH}"
 
 # Add cache date to avoid using cached layers older than this
-ARG CACHE_DATE=2024-04-25
+ARG CACHE_DATE=2024-07-19
 
 
 RUN pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"