refactor(aloha_ws): Remove redundant code

aloha_ws/README.md

@@ -53,7 +53,10 @@ isaacsim omni.isaac.sim
 
 Open pre-configured USD file with OmniGraph:
 
-- `File > Open` and in `File name:` type `/home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_og.usd`
+- `File > Open` and in `File name:` type:
+  ```
+  /home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_og.usd
+  ```
 - Click `Window > Visual Scripting > Action Graph`
 - In the `Action Graph` tab, click `Edit Action Graph` and select `/ActionGraph`
 - Click `Play (SPACE)`

aloha_ws/isaacsim/scripts/create_vx300s_from_urdf.py

@@ -6,33 +6,19 @@
 
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html#importing-urdf-using-python
 
-import asyncio
 import logging
 import os
 
 import omni.kit.commands
 import omni.usd
 from omni.importer.urdf import _urdf
-from omni.kit import ui_test
 from pxr import UsdPhysics
 
+# Ref: https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/logging.html
+# `print(...)` outputs to Script Editor, while `logger.info(...)` outputs to console.
 logger = logging.getLogger(__name__)
 
 
-def log(msg):
-    # Print to console
-    # Ref: https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/logging.html
-    logger.info(msg)
-    # Print to Script Editor
-    print(msg)
-
-async def create_new_stage_with_defaults():
-    menu_widget = ui_test.get_menubar()
-    await menu_widget.find_menu("File").click()
-    await menu_widget.find_menu("New").click()
-    log("Done!")
-    simulation_app.close()
-
 def create_vx300s_from_urdf(urdf_path, usd_path):
     # Set the settings in the import config
     import_config = _urdf.ImportConfig()
@@ -61,8 +47,9 @@ def create_vx300s_from_urdf(urdf_path, usd_path):
     omni.usd.get_context().save_stage()
 
 if __name__ == '__main__':
-    print("Creating `vx300s.usd` from urdf...")
     vx300s_urdf_path = f'{os.path.expanduser("~")}/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/vx300s.urdf'
     vx300s_usd_path = '/home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_urdf.usd'
     create_vx300s_from_urdf(vx300s_urdf_path, vx300s_usd_path)
-    asyncio.ensure_future(create_new_stage_with_defaults())
+    print("Done")
+    logger.info("Done")
+    simulation_app.close()

aloha_ws/isaacsim/scripts/create_vx300s_with_omnigraph.py

@@ -9,18 +9,12 @@
 import omni.graph.core as og
 import omni.kit.app
 import omni.usd
-from omni.isaac.core import World
 
+# Ref: https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/logging.html
+# `print(...)` outputs to Script Editor, while `logger.info(...)` outputs to console.
 logger = logging.getLogger(__name__)
 
 
-def log(msg):
-    # Print to console
-    # Ref: https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/logging.html
-    logger.info(msg)
-    # Print to Script Editor
-    print(msg)
-
 def create_vx300s_with_omnigraph():
     # Create vx300s
     vx300s_prim_path = "/World/vx300s_urdf"
@@ -72,22 +66,12 @@ def create_vx300s_with_omnigraph():
 if __name__ == '__main__':
     # Ref: https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/extensions/enable-kit-extension.html
     manager = omni.kit.app.get_app().get_extension_manager()
-    # enable immediately
     manager.set_extension_enabled_immediate("omni.isaac.ros2_bridge", True)
-    log("ros2_bridge enabled: " + str(manager.is_extension_enabled("omni.isaac.ros2_bridge")))
+    print("ros2_bridge enabled: " + str(manager.is_extension_enabled("omni.isaac.ros2_bridge")))
+    logger.info("ros2_bridge enabled: " + str(manager.is_extension_enabled("omni.isaac.ros2_bridge")))
     create_vx300s_with_omnigraph()
     vx300s_og_usd_path = '/home/ros2-essentials/aloha_ws/isaacsim/assets/vx300s_og.usd'
     omni.usd.get_context().save_as_stage(vx300s_og_usd_path)
-    log("Done!")
-    # # Ref: `~/.local/share/ov/pkg/isaac-sim-4.1.0/standalone_examples/api/omni.isaac.franka/follow_target_with_rmpflow.py`
-    # my_world = World(stage_units_in_meters=1.0)
-    # reset_needed = False
-    # while simulation_app.is_running():
-    #     my_world.step(render=True)
-    #     if my_world.is_stopped() and not reset_needed:
-    #         reset_needed = True
-    #     if my_world.is_playing():
-    #         if reset_needed:
-    #             my_world.reset()
-    #             reset_needed = False
+    print("Done")
+    logger.info("Done")
     simulation_app.close()