Fixes, added isaac5 configurations

[saihv]

No description provided.

[gemini-code-assist]

Summary of Changes

Hello @saihv, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly expands the simulation environment's capabilities by integrating new Isaac5 configurations for a diverse range of robots and updating existing Airgen setups. It also refines the AI perception models used in notebooks by switching to OWLv2 and improves code clarity and type specificity by transitioning from generic VehicleClient to more specialized client types. These changes aim to enhance the flexibility and robustness of the simulation and data generation workflows.

Highlights

• New Isaac5 Configurations: Several new Isaac5 simulation configurations have been added for various robotic platforms, including Franka, G1 humanoid, Rizon, Spot-like, and UR5e robots, primarily for tabletop and warehouse environments.
• Airgen Configuration Updates: A new Airgen configuration for a legged robot (UnitreeGo2) has been introduced, and the scene for the existing multi-drone configuration has been updated from 'electric_central' to 'nordic_forest'.
• AI Model Integration: The object detection model in several AI-related notebooks has been updated from GroundingDINO to OWLv2, enhancing perception capabilities.
• Client Type Refinement in Notebooks: Various notebooks have been updated to use more specific client types (e.g., CarClient, MultirotorClient, CVMoverClient) instead of the generic VehicleClient, improving type safety and clarity.
• Isaac Sim Notebook Simplification: Explicit run() calls have been removed from Isaac Sim notebooks, suggesting a streamlined or automated simulation startup process.

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[gemini-code-assist]

Code Review

This pull request introduces several new configurations for isaac5 simulations and refactors many of the existing notebooks. The changes largely involve updating airgen client types from the generic VehicleClient to more specific ones like CVMoverClient, CarClient, and MultirotorClient, and switching the object detection model from GroundingDINO to OWLv2.

My review focuses on the correctness of these changes. While most of the refactoring appears correct and consistent, I've identified a couple of critical issues in the Isaac Sim notebooks where the removal of .run() calls will likely break their execution. Please see my detailed comments.

[gemini-code-assist]

The call to humanoidisaacsim_0.run() was removed, but it appears to be necessary for the simulation to start. Subsequent cells that interact with the simulation (e.g., humanoidisaacsim_0.locomotion.moveByVelocity(...)) will fail without it. Other Isaac Sim notebooks in the repository still include an explicit .run() call, suggesting it's still necessary. Please restore this call to ensure the notebook functions correctly. The cell's code should be:

# Start the humanoid simulation
humanoidisaacsim_0.run()

# Import necessary utilities for velocity control, logging, and timing
from grid.utils.types import Velocity
from grid.utils import log
import time

[gemini-code-assist]

The call to humanoidisaacsim_0.run() has been removed from this cell. The next cell in the notebook calls humanoidisaacsim_0.getImage(...), which will likely fail if the simulation has not been started. Please restore the humanoidisaacsim_0.run() call to ensure the notebook executes correctly.

    "obj = \"forklift\"\n",
    "\n",
    "humanoidisaacsim_0.run()"