Fixes error in hdf5 loading and hides simulation settings window (#246)

# Description

This change enforces the Isaac Lab extensions to be loaded last to avoid
conflicts in hdf5 with omniverse extensions. Additionally, we hide the
Simulation Settings window by default in `SimulationContext` as
specifying it in the app file does not seem to work. Also adds the
IsaacLab folder to python path for benchmarking scripts.


## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

apps/isaaclab.python.headless.kit

@@ -183,11 +183,12 @@ enabled=true # Enable this for DLSS
 # Isaac Lab Extensions #
 ########################
 
-"isaaclab" = {}
-"isaaclab_assets" = {}
-"isaaclab_tasks" = {}
-"isaaclab_mimic" = {}
-"isaaclab_rl" = {}
+# Load Isaac Lab extensions last
+"isaaclab" = {order = 1000}
+"isaaclab_assets" = {order = 1000}
+"isaaclab_tasks" = {order = 1000}
+"isaaclab_mimic" = {order = 1000}
+"isaaclab_rl" = {order = 1000}
 
 # Asset path
 # set the S3 directory manually to the latest published S3

apps/isaaclab.python.kit

@@ -103,11 +103,12 @@ keywords = ["experience", "app", "usd"]
 # Isaac Lab Extensions #
 ########################
 
-"isaaclab" = {}
-"isaaclab_assets" = {}
-"isaaclab_tasks" = {}
-"isaaclab_mimic" = {}
-"isaaclab_rl" = {}
+# Load Isaac Lab extensions last
+"isaaclab" = {order = 1000}
+"isaaclab_assets" = {order = 1000}
+"isaaclab_tasks" = {order = 1000}
+"isaaclab_mimic" = {order = 1000}
+"isaaclab_rl" = {order = 1000}
 
 [settings]
 exts."omni.kit.material.library".ui_show_list = [
@@ -235,7 +236,6 @@ resourcemonitor.timeBetweenQueries = 100 # improves performance
 simulation.defaultMetersPerUnit = 1.0 # Meters default
 omni.replicator.captureOnPlay = true
 
-
 [settings]
 ### async rendering settings
 omni.replicator.asyncRendering = false
@@ -279,7 +279,7 @@ folders = [
 ]
 
 [settings.physics]
-autoPopupSimulationOutputWindow=false
+autoPopupSimulationOutputWindow = false
 updateToUsd = false
 updateVelocitiesToUsd = false
 updateParticlesToUsd = false
@@ -288,7 +288,6 @@ updateForceSensorsToUsd = false
 outputVelocitiesLocalSpace = false
 useFastCache = false
 visualizationDisplayJoints = false
-visualizationSimulationOutput = false
 fabricUpdateTransformations = false
 fabricUpdateVelocities = false
 fabricUpdateForceSensors = false

scripts/benchmarks/benchmark_non_rl.py

@@ -8,6 +8,7 @@
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import os
 import sys
 import time
 
@@ -60,6 +61,8 @@ from isaacsim.core.utils.extensions import enable_extension
 enable_extension("isaacsim.benchmark.services")
 from isaacsim.benchmark.services import BaseIsaacBenchmark
 
+sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../.."))
+
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,

scripts/benchmarks/benchmark_rlgames.py

@@ -83,6 +83,8 @@ from isaaclab_tasks.utils.hydra import hydra_task_config
 
 imports_time_end = time.perf_counter_ns()
 
+sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../.."))
+
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,

scripts/benchmarks/benchmark_rsl_rl.py

@@ -85,6 +85,8 @@ from isaacsim.core.utils.extensions import enable_extension
 enable_extension("isaacsim.benchmark.services")
 from isaacsim.benchmark.services import BaseIsaacBenchmark
 
+sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../.."))
+
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,

source/isaaclab/isaaclab/sim/converters/urdf_converter.py

@@ -9,6 +9,7 @@ import math
 import re
 
 import isaacsim
+import omni.kit.app
 import omni.kit.commands
 import omni.usd
 from isaacsim.core.utils.extensions import enable_extension
@@ -45,7 +46,9 @@ class UrdfConverter(AssetConverterBase):
         Args:
             cfg: The configuration instance for URDF to USD conversion.
         """
-        enable_extension("isaacsim.asset.importer.urdf")
+        manager = omni.kit.app.get_app().get_extension_manager()
+        if not manager.is_extension_enabled("isaacsim.asset.importer.urdf"):
+            enable_extension("isaacsim.asset.importer.urdf")
         from isaacsim.asset.importer.urdf._urdf import acquire_urdf_interface
 
         self._urdf_interface = acquire_urdf_interface()

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -139,6 +139,8 @@ class SimulationContext(_SimulationContext):
         # reference: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Geometry.html?highlight=capsule#geometry
         carb_settings_iface.set_bool("/physics/collisionConeCustomGeometry", False)
         carb_settings_iface.set_bool("/physics/collisionCylinderCustomGeometry", False)
+        # hide the Simulation Settings window
+        carb_settings_iface.set_bool("/physis/autoPopupSimulationOutputWindow", False)
         # note: we read this once since it is not expected to change during runtime
         # read flag for whether a local GUI is enabled
         self._local_gui = carb_settings_iface.get("/app/window/enabled")