Muhong Guo

@kunaltyagi @SergioRAgostinho Thanks for the feedback. I will make a PR for that.

I also encountered the "usd-core missing" issue when using the v0.3.0 version of orbit and building the orbit image following the official instructions. 

The issue can be workaround if I add a step in `Dockerfile.base` to install usd-core. See: ``` # Install usd-core RUN ${ORBIT_PATH}/orbit.sh -p -m pip install usd-core==23.11 # installing Orbit...

@swstbecrpgmail I think it's a network issue when cloning robomimic. I also had this issue but a retry can resolve it. In case you don't need `robomimic` in your project,...

> > although this makes sense to me, i would reconsider this synchronous method is really needed. probably we can just delete and supports only async method? so that application...

Closing this PR as https://github.com/ros2/rclpy/pull/1188 (merged) has added the same feature. @KKSTB Thank you! cc @clalancette

Seems like the issue of using `torch.use_deterministic_algorithms(True)` has been fixed in this [pytorch PR](https://github.com/pytorch/pytorch/pull/105833), which is included in [pytorch v2.1.0](https://github.com/pytorch/pytorch/releases/tag/v2.1.0)

It seems difficult to upgrade the pytorch as the it's shipped with isaac sim 2023.1.1. This is my workaround to avoid the error without upgrading pytorch: change `self._external_force_b[env_ids] = 0.0`...