A collection of bug fixes to run successfully in Docker Isaac Sim

[j3soon]

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): docker isaac sim
2. python version: Python 3.10.13
3. Isaac Sim version (if using): 2023.1.0

---

Issue Details:

• Use isaac-3.0 branch

  git clone git@github.com:NVlabs/curobo.git
  cd curobo
  git checkout isaac-3.0

  Ref: https://github.com/NVlabs/curobo/issues/301

• Modify the Dockerfile to use the isaac-3.0 branch

  cd docker
  vim isaac_sim.dockerfile

  Modify the Dockerfile from:

  # COPY pkgs /pkgs
  
  RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git

  to:

  COPY pkgs /pkgs
  
  # RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git

  exit vim and clone the repo again:

  mkdir pkgs
  cd pkgs
  git clone git@github.com:NVlabs/curobo.git
  cd curobo
  git checkout isaac-3.0
  cd ../../..

  Ref: https://github.com/NVlabs/curobo/blob/0c51dd2da8d4a76ebaa0dee4e302ef88e504bce0/docker/isaac_sim.dockerfile#L168-L174 Ref: https://github.com/NVlabs/curobo/blob/0c51dd2da8d4a76ebaa0dee4e302ef88e504bce0/docker/x86.dockerfile#L86-L92

• Fix omni_python alias

  cd docker
  vim isaac_sim.dockerfile

  Modify the Dockerfile from:

  RUN echo "alias omni_python='/isaac-sim/python.sh'" >> /.bashrc

  to:

  RUN echo "alias omni_python='/isaac-sim/python.sh'" >> ~/.bashrc

  Ref: https://github.com/NVlabs/curobo/blob/0c51dd2da8d4a76ebaa0dee4e302ef88e504bce0/docker/isaac_sim.dockerfile#L160

• Build and launch the docker container (No changes here)

  cd docker
  TAG=isaac_sim_2023.1.0
  bash build_docker.sh $TAG
  xhost +local:docker
  bash start_docker.sh $TAG

  Ref: https://curobo.org/get_started/5_docker_development.html

• Run the Isaac Sim examples

  omni_python examples/isaac_sim/collision_checker.py
  omni_python examples/isaac_sim/motion_gen_reacher.py --robot franka.yml

  Note that the commands here are different from those written in the docs. I think the code is updated while the docs weren't updated accordingly.

  Ref: https://curobo.org/get_started/2b_isaacsim_examples.html

  Launch omni_python examples/isaac_sim/collision_checker_example.py to run a collision checking example. ... Launch omni_python examples/isaac_sim/motion_gen_reacher.py --robot franka, which will load the Franka Panda robot and a red cube similar to the UI above.

[balakumar-s]

Thanks @j3soon . This is mainly because of our recent change to use new API from warp. We have added a fallback API for instances where cuRobo needs to run with an older warp library (e.g., older isaac sim).

I do see some other modifications in your description, which we will add to the next release.

[balakumar-s]

We have updated our docker steps based on your suggestions.