Isaac Sim 4.0 support, Kinematics API doc, Windows support

examples/isaac_sim/simple_stacking.py

@@ -9,6 +9,14 @@
 # its affiliates is strictly prohibited.
 #
 
+
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
+
 # Third Party
 import torch
 
@@ -154,7 +162,6 @@ class CuroboController(BaseController):
             collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
             store_ik_debug=self._save_log,
             store_trajopt_debug=self._save_log,
-            velocity_scale=0.75,
         )
         self.motion_gen = MotionGen(motion_gen_config)
         print("warming up...")
@@ -173,6 +180,7 @@ class CuroboController(BaseController):
             partial_ik_opt=False,
             parallel_finetune=True,
             pose_cost_metric=pose_metric,
+            time_dilation_factor=0.75,
         )
         self.usd_help.load_stage(self.my_world.stage)
         self.cmd_plan = None
@@ -455,7 +463,7 @@ print(articulation_controller.get_gains())
 print(articulation_controller.get_max_efforts())
 robot = my_franka
 print("**********************")
-if True:
+if False:
     robot.enable_gravity()
     articulation_controller.set_gains(
         kps=np.array(