iSDF integration with Franka + realsense

[suddhu]

This runs similar to the live camera demo, but subscribes to Franka Panda inverse kinematics rather than ORB-SLAM. Additionally, this implementation has been tuned to work for tabletop scenes and is restricted to a defined workspace. I conducted tests live on the Franka Panda, and on the realsense_franka datasets from data/download_franka.sh. Also checked runs on the ReplicaCAD dataset and ORBSLAM live demo to ensure the changes did not break the main repo.

The easiest way to verify the implementation without access to a Franka is roslaunch isdf train_franka.launch live:=false inc:=true from the readme. If you have a Franka, you follow the readme instructions for running iSDF live.

Other smaller changes unrelated to the Franka:

• data/download_apt_2_nav.sh failed to unzip correctly, fixed
• removed hardcoded prefix from environment.yml
• cam_scale parameters for Draw3D drawcams
• Added grid_dim and extra_opt_steps as arguments in train.py
• adaptive display_scenes to screenwidth in train.py
• Disabled opacity for ReplicaCAD in trainer.py (it breaks due to undefined pc)

Happy to make any changes!

[mhmukadam]

Should we merge this PR?

[suddhu]

It should be ready in the next couple of days, @joeaortiz and I briefly talked about this last week. Have to merge the changes from main (new visualizer) and test it out. After that, we can merge.

[suddhu]

@joeaortiz @mhmukadam integrated the Open3D viz. and ready to merge with main. Tested out on tabletop and ReplicaCAD datasets. Other small changes:

• self.crop_dist variable in trainer.py
• Fixed bug in download_data.sh
• self.cam_scale variable in isdf_window.py