Add isaacsim pip with cache pkgs

[baconbrot]

Please add the following dependency to the rosdep database.

Package name:

Edit: In the newly released Isaac Sim 4.5.0, the package structure has changed. Packages are now installed via pip extras, and I propose adding the following extras to rosdep to replace the old ones:

python3-isaacsim-all-pip
python3-isaacsim-rl-pip
python3-isaacsim-ros-pip
python3-isaacsim-ros2-pip
python3-isaacsim-extscache-pip

python3-isaacsim-pip
python3-isaacsim-extscache-physics-pip
python3-isaacsim-extscache-kit-pip
python3-isaacsim-extscache-kit-sdk-pip

Package Upstream Source:

NA

Purpose of using this:

Simulating ROS integrated robots using NVIDIA Omniverse IsaacSim.
The main package isaacsim can be supplemented by any subset of the other three cache packages to accelerate first time startup.

Links to Distribution Packages

There are no special distribution packages, only pip.
pip:

• https://pypi.org/project/isaacsim/
• https://pypi.org/project/isaacsim-extscache-physics/
• https://pypi.org/project/isaacsim-extscache-kit/
• https://pypi.org/project/isaacsim-extscache-kit-sdk/

Edit: Available extras can be inspected in the isaacsim-4.5.0.0.tar.gz file available on PyPI.

Additional notes

Installation with rosdep might require the user to set the --as-root pip:false flag, e.g.
rosdep install -i -y --from-paths src --as-root pip:false

[github-actions]

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For changes related to rosdep:

• ✅ New rosdep keys are named appropriately

For changes related to yamllint:

• ✅ All new lines of YAML pass linter checks

[baconbrot]

This package is currently only available for python 3.10. Should the pip install be restricted to e.g. Ubuntu jammy (which has default python version 3.10.X)?

[baconbrot]

IsaacSim 4.5.0 was released during this PR.

The new version replaces isaacsim with isaacsim[all].
Since pip extras aren't supported yet (see ros-infrastructure/rosdep#900), I'll manually add each extra from isaacsim including the corresponding packages to python3-isaacsim-<extra>-pip, similar to how python-pytorch-pip installs both pytorch and torchvision.

[github-actions]

For changes related to rosdep:

• ✅ New rosdep keys are named appropriately

For changes related to yamllint:

• ✅ All new lines of YAML pass linter checks