Start isaac sim with openarm model and VR extension

Author: Dozgulbas

scripts/isaacsim/openarm_sim.py

@@ -1,12 +1,33 @@
 from isaaclab.app import AppLauncher
 
-app_launcher = AppLauncher(headless=False)
+launcher_args = {
+    "headless": False,
+    "experience": "/home/vision/workspace/simlab/.venv-isaacsim/lib/python3.11/site-packages/isaacsim/apps/isaacsim.exp.base.xr.vr.kit"
+}
+
+app_launcher = AppLauncher(launcher_args)
 simulation_app = app_launcher.app
 
+import omni.kit.app
 import isaaclab.sim as sim_utils
 
 BIMANUAL_USD = "/home/vision/humanoids/openarm_isaac_lab/source/openarm/openarm/tasks/manager_based/openarm_manipulation/usds/openarm_bimanual/openarm_bimanual.usd"
 
+XR_EXTENSIONS = [
+    "omni.kit.xr.core",
+    "omni.kit.xr.system.openxr",
+    "omni.kit.xr.profile.vr",
+]
+
+def enable_xr_extensions():
+    ext_manager = omni.kit.app.get_app().get_extension_manager()
+    for ext in XR_EXTENSIONS:
+        if not ext_manager.is_extension_enabled(ext):
+            print(f"Enabling {ext}...")
+            ext_manager.set_extension_enabled_immediate(ext, True)
+        else:
+            print(f"{ext} already enabled.")
+
 def main():
     sim_cfg = sim_utils.SimulationCfg(dt=0.01)
     sim = sim_utils.SimulationContext(sim_cfg)
@@ -15,8 +36,10 @@ def main():
     cfg = sim_utils.UsdFileCfg(usd_path=BIMANUAL_USD)
     cfg.func("/World/OpenArm", cfg)
 
+    enable_xr_extensions()
+
     sim.reset()
-    print("Bimanual OpenArm loaded.")
+    print("Bimanual OpenArm loaded with VR extensions enabled.")
 
     while simulation_app.is_running():
         sim.step()