Adapts isaac sim path in the container to point to its symlink (#482)

# Description

The experience files that we host in Orbit rely upon an expression
`${exe-path}`, specifically to resolve the location of the `VERSION`.
From our `orbit.python.headless.kit`:
```
app.versionFile = "${exe-path}/../VERSION"
app.folder = "${exe-path}/../"
```
This resolves to the full path of the calling exe, which is the `kit`
application in isaac-sim.

Currently this is broken in the container because we set
`ISAACSIM_PATH=/isaac-sim`, which is broken during the path operations
done on it. This PR fixes that by making
`ISAACSIM_PATH=/workspace/orbit/_isaac_sim` as well as mapping other
aliases (`python`, `python3`) through this path.

I have also added `not self._livestream` as a precondition of enabling
the `orbit.python.headless.kit` experience file, because otherwise we do
not render to livestream.

I also added fixes for all the newly failing tests, except for
`test_urdf_converter.py`. I will add a fix for that to this branch as
soon as I have one.

UPDATE:
It appears that `test_urdf_converter.py` was broken at least as far back
as commit `a30d764d`, which precedes the experience file commit. I will
therefore merge this without fixing that test.

Fixes [#339](https://github.com/NVIDIA-Omniverse/orbit/issues/339),
[#338](https://github.com/NVIDIA-Omniverse/orbit/issues/338)

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.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
- [x] I have run all the tests with `./orbit.sh --test` and they pass
(except `test_urdf_converter.py`)
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

docker/.env.base

@@ -7,7 +7,9 @@ ACCEPT_EULA=Y
 # NVIDIA Isaac Sim version to use (e.g. 2023.1.1, 2023.1.0-hotfix.1)
 ISAACSIM_VERSION=2023.1.1
 # Derived from the default path in the NVIDIA provided Isaac Sim container
-DOCKER_ISAACSIM_PATH=/isaac-sim
+DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
+# The Orbit path in the container
+DOCKER_ORBIT_PATH=/workspace/orbit
 # Docker user directory - by default this is the root user's home directory
 DOCKER_USER_HOME=/root
 

docker/Dockerfile.base

@@ -19,15 +19,15 @@ LABEL description="Dockerfile for building and running the Orbit framework insid
 
 # Arguments
 # Path to Isaac Sim root folder
-ARG ISAACSIM_PATH
+ARG ISAACSIM_ROOT_PATH
+# Path to orbit directory
+ARG ORBIT_PATH
 # Home dir of docker user, typically '/root'
 ARG DOCKER_USER_HOME
 
 # Set environment variables
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
-# Path to orbit directory
-ENV ORBIT_PATH=/workspace/orbit
 
 # Install dependencies and remove cache
 RUN --mount=type=cache,target=/var/cache/apt \
@@ -44,10 +44,10 @@ RUN --mount=type=cache,target=/var/cache/apt \
 COPY ../ ${ORBIT_PATH}
 
 # Set up a symbolic link between the installed Isaac Sim root folder and _isaac_sim in the orbit directory
-RUN ln -sf ${ISAACSIM_PATH} ${ORBIT_PATH}/_isaac_sim
+RUN ln -sf ${ISAACSIM_ROOT_PATH} ${ORBIT_PATH}/_isaac_sim
 
 # for singularity usage, have to create the directories that will binded
-RUN mkdir -p ${ISAACSIM_PATH}/kit/cache && \
+RUN mkdir -p ${ISAACSIM_ROOT_PATH}/kit/cache && \
     mkdir -p ${DOCKER_USER_HOME}/.cache/ov && \
     mkdir -p ${DOCKER_USER_HOME}/.cache/pip && \
     mkdir -p ${DOCKER_USER_HOME}/.cache/nvidia/GLCache &&  \
@@ -73,11 +73,11 @@ RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
 
 # aliasing orbit.sh and python for convenience
 RUN echo "alias orbit=${ORBIT_PATH}/orbit.sh" >> ${HOME}/.bashrc && \
-    echo "alias python=${ISAACSIM_PATH}/python.sh" >> ${HOME}/.bashrc && \
-    echo "alias python3=${ISAACSIM_PATH}/python.sh" >> ${HOME}/.bashrc && \
-    echo "alias pip='${ISAACSIM_PATH}/python.sh -m pip'" >> ${HOME}/.bashrc && \
-    echo "alias pip3='${ISAACSIM_PATH}/python.sh -m pip'" >> ${HOME}/.bashrc && \
-    echo "alias tensorboard='${ISAACSIM_PATH}/python.sh ${ISAACSIM_PATH}/tensorboard'" >> ${HOME}/.bashrc && \
+    echo "alias python=${ORBIT_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias python3=${ORBIT_PATH}/_isaac_sim/python.sh" >> ${HOME}/.bashrc && \
+    echo "alias pip='${ORBIT_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias pip3='${ORBIT_PATH}/_isaac_sim/python.sh -m pip'" >> ${HOME}/.bashrc && \
+    echo "alias tensorboard='${ORBIT_PATH}/_isaac_sim/python.sh ${ORBIT_PATH}/_isaac_sim/tensorboard'" >> ${HOME}/.bashrc && \
     echo "export TZ=$(date +%Z)" >> ${HOME}/.bashrc
 
 # make working directory as the orbit directory

docker/docker-compose.yaml

@@ -8,7 +8,7 @@ x-default-orbit-volumes:
     # https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#save-isaac-sim-configs-on-local-disk
     - type: volume
       source: isaac-cache-kit
-      target: ${DOCKER_ISAACSIM_PATH}/kit/cache
+      target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache
     - type: volume
       source: isaac-cache-ov
       target: ${DOCKER_USER_HOME}/.cache/ov
@@ -26,7 +26,7 @@ x-default-orbit-volumes:
       target: ${DOCKER_USER_HOME}/.nvidia-omniverse/logs
     - type: volume
       source: isaac-carb-logs
-      target: ${DOCKER_ISAACSIM_PATH}/kit/logs/Kit/Isaac-Sim
+      target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/logs/Kit/Isaac-Sim
     - type: volume
       source: isaac-data
       target: ${DOCKER_USER_HOME}/.local/share/ov/data
@@ -87,17 +87,16 @@ services:
       dockerfile: docker/Dockerfile.base
       args:
         - ISAACSIM_VERSION=${ISAACSIM_VERSION}
-        - ISAACSIM_PATH=${DOCKER_ISAACSIM_PATH}
+        - ISAACSIM_ROOT_PATH=${DOCKER_ISAACSIM_ROOT_PATH}
+        - ORBIT_PATH=${DOCKER_ORBIT_PATH}
         - DOCKER_USER_HOME=${DOCKER_USER_HOME}
     image: orbit-base
     container_name: orbit-base
     environment:
-      # We set DOCKER_ISAACSIM_PATH and then forward it to ISAACSIM_PATH within
-      # the container to avoid collision with pre-existing ISAACSIM_PATH env vars
-      # that could come from installing Orbit on the local machine, causing build errors.
       # We can't just define this in the .env file because shell envars take precedence
       # https://docs.docker.com/compose/environment-variables/envvars-precedence/
-      - ISAACSIM_PATH=${DOCKER_ISAACSIM_PATH}
+      - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim
+      - ORBIT_PATH=${DOCKER_ORBIT_PATH}
       # This should also be enabled for X11 forwarding
       # - DISPLAY=${DISPLAY}
     volumes: *default-orbit-volumes
@@ -127,7 +126,8 @@ services:
     image: orbit-ros2
     container_name: orbit-ros2
     environment:
-      - ISAACSIM_PATH=${DOCKER_ISAACSIM_PATH}
+      - ISAACSIM_PATH=${DOCKER_ORBIT_PATH}/_isaac_sim
+      - ORBIT_PATH=${DOCKER_ORBIT_PATH}
     volumes: *default-orbit-volumes
     network_mode: host
     deploy: *default-orbit-deploy

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app/app_launcher.py

@@ -443,7 +443,7 @@ class AppLauncher:
         orbit_app_exp_path = os.path.join(os.environ["ORBIT_PATH"], "source", "apps")
         if self._sim_experience_file == "":
             # check if the headless flag is set
-            if self._headless:
+            if self._headless and not self._livestream:
                 self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.headless.kit")
             else:
                 self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.kit")

source/extensions/omni.isaac.orbit/test/sensors/test_camera.py

@@ -13,7 +13,7 @@ from __future__ import annotations
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=True)
+app_launcher = AppLauncher(headless=True, offscreen_render=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster_camera.py

@@ -11,7 +11,7 @@
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=True)
+app_launcher = AppLauncher(headless=True, offscreen_render=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py

@@ -10,7 +10,7 @@ from __future__ import annotations
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch omniverse app
-simulation_app = AppLauncher(headless=True).app
+simulation_app = AppLauncher(headless=True, experience="omni.isaac.sim.python.gym.headless.kit").app
 
 """Rest everything follows."""
 

source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py

@@ -17,7 +17,7 @@ import unittest
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.core.utils.extensions import get_extension_path_from_name
+from omni.isaac.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
@@ -62,6 +62,7 @@ class TestSpawningFromFiles(unittest.TestCase):
     def test_spawn_urdf(self):
         """Test loading prim from URDF file."""
         # retrieve path to urdf importer extension
+        enable_extension("omni.importer.urdf")
         extension_path = get_extension_path_from_name("omni.importer.urdf")
         # Spawn franka from URDF
         cfg = sim_utils.UrdfFileCfg(