Drops support for Isaac Sim 2022.2.2 and earlier (#431)

# Description

Fully deprecates Isaac 2022.2 and Python3.7. Removes all
checks/accommodations for 2022.2, defaults to 2023.1 behavior. Also
changes `.env` to default to `ISAACSIM_VERSION` 2023.1.1.

Fixes #393 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
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---------
Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

README.md

@@ -4,7 +4,7 @@
 
 # Orbit
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-2023.1.0--hotfix.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
 [![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)

docker/.env

 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
-# NVIDIA Isaac Sim version to use (e.g. 2022.2.1)
-ISAACSIM_VERSION=2023.1.0-hotfix.1
+# NVIDIA Isaac Sim version to use (e.g. 2023.1.1, 2023.1.0-hotfix.1)
+ISAACSIM_VERSION=2023.1.1
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_PATH=/isaac-sim
 # Docker user directory - by default this is the root user's home directory

docs/conf.py

@@ -222,7 +222,7 @@ html_theme_options = {
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-2023.1.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg",
             "type": "url",
         },
         {

docs/source/setup/installation.rst

 Installation Guide
 ===================
 
-.. image:: https://img.shields.io/badge/IsaacSim-2023.1.0--hotfix.1-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-2023.1.1-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: IsaacSim 2023.1.0
+   :alt: IsaacSim 2023.1.1
 
 .. image:: https://img.shields.io/badge/python-3.10-blue.svg
    :target: https://www.python.org/downloads/release/python-31013/
@@ -20,9 +20,8 @@ Installing Isaac Sim
 
 .. caution::
 
-   While the framework contains some backwards compatibility for Isaac Sim 2022.2.1, we recommend using
-   the latest Isaac Sim 2023.1 release. This release contains various improvements on the
-   simulation side, and is the recommended version to use with Orbit.
+   We have dropped support for Isaac Sim versions 2022.2 and below. We recommend using the latest Isaac Sim
+   2023.1 releases (``2023.1.0-hotfix.1`` or ``2023.1.1``).
 
    For more information, please refer to the
    `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.

docs/source/tutorials/00_sim/launch_app.rst

@@ -75,7 +75,7 @@ custom arguments and those from :class:`~app.AppLauncher`.
    [INFO] Using python from: /isaac-sim/python.sh
    [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp.
    [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp.
-   usage: launch_app.py [-h] [--size SIZE] [--width WIDTH] [--height HEIGHT] [--headless] [--livestream {0,1,2,3}] [--ros {0,1,2}]
+   usage: launch_app.py [-h] [--size SIZE] [--width WIDTH] [--height HEIGHT] [--headless] [--livestream {0,1,2,3}]
                         [--offscreen_render]
 
    Tutorial on running IsaacSim via the AppLauncher.
@@ -90,7 +90,6 @@ custom arguments and those from :class:`~app.AppLauncher`.
    --headless            Force display off at all times.
    --livestream {0,1,2,3}
                          Force enable livestreaming. Mapping corresponds to that for the "LIVESTREAM" environment variable.
-   --ros {0,1,2}         Enable ROS middleware. Mapping corresponds to that for the "ROS_ENABLED" environment variable
    --offscreen_render    Enable offscreen rendering when running without a GUI.
 
 This readout details the ``--size``, ``--height``, and ``--width`` arguments defined in the script directly,
@@ -106,7 +105,7 @@ for more examples.
 Using environment variables
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-As noted in the help message, the :class:`~app.AppLauncher` arguments (``--livestream``, ``--ros``)
+As noted in the help message, the :class:`~app.AppLauncher` arguments (``--livestream``, ``--headless``)
 have corresponding environment variables (envar) as well. These are detailed in :mod:`omni.isaac.orbit.app`
 documentation. Providing any of these arguments through CLI is equivalent to running the script in a shell
 environment where the corresponding envar is set.

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.28"
+version = "0.11.0"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.11.0 (2024-02-27)
+~~~~~~~~~~~~~~~~~~~
+
+Removed
+^^^^^^^
+
+* Dropped support for Isaac Sim<=2022.2. As part of this, removed the components of :class:`omni.isaac.orbit.app.AppLauncher`
+  which handled ROS extension loading. We no longer need them in Isaac Sim>=2023.1 to control the load order to avoid crashes.
+* Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default.
+
+
 0.10.28 (2024-02-29)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/app.py

@@ -6,8 +6,8 @@
 """Sub-package with the utility class to configure the :class:`omni.isaac.kit.SimulationApp`.
 
 Based on the desired functionality, this class parses environment variables and input CLI arguments
-to launch the simulator in various different modes. This includes with or without GUI, switching between
-different Omniverse remote clients, and enabling particular ROS bridges. Some of these require the
+to launch the simulator in various different modes. This includes with or without GUI and switching between
+different Omniverse remote clients. Some of these require the
 extensions to be loaded in a specific order, otherwise a segmentation fault occurs.
 The launched `SimulationApp`_ instance is accessible via the :attr:`AppLauncher.app` property.
 
@@ -31,18 +31,6 @@ The following details the behavior of the class based on the environment variabl
   * ``LIVESTREAM=3`` enables streaming  via the `WebRTC Livestream`_ extension. This allows users to
     connect in a browser using the WebRTC protocol.
 
-* **Loading ROS Bridge**: If the environment variable ``ROS_ENABLED`` is set to non-zero, then the
-  following behavior happens:
-
-  * ``ROS_ENABLED=1``: Enables the ROS1 Noetic bridge in Isaac Sim.
-  * ``ROS_ENABLED=2``: Enables the ROS2 Foxy bridge in Isaac Sim.
-
-  .. caution::
-
-      In Isaac Sim 2022.2.1, loading ``omni.isaac.ros_bridge`` before ``omni.kit.livestream.native``
-      causes a segfault. Thus, to work around this issue, we enable the ROS-bridge extensions after the
-      livestreaming extensions.
-
 * **Offscreen Render**: If the environment variable ``OFFSCREEN_RENDER`` is set to 1, then the
   offscreen-render pipeline is enabled. This is useful for running the simulator without a GUI but
   still rendering the viewport and camera images.
@@ -168,7 +156,7 @@ class AppLauncher:
             ValueError: If combination of ``launcher_args`` and ``kwargs`` are missing the necessary arguments
                 that are needed by the AppLauncher to resolve the desired app configuration.
             ValueError: If incompatible or undefined values are assigned to relevant environment values,
-                such as ``LIVESTREAM`` and ``ROS_ENABLED``.
+                such as ``LIVESTREAM``.
 
         .. _argparse.Namespace: https://docs.python.org/3/library/argparse.html?highlight=namespace#argparse.Namespace
         .. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
@@ -183,7 +171,7 @@ class AppLauncher:
         # and will be passed directly to the SimulationApp initialization.
         #
         # We could potentially require users to enter each argument they want passed here
-        # as a kwarg, but this would require them to pass livestream, headless, ros, and
+        # as a kwarg, but this would require them to pass livestream, headless, and
         # any other options we choose to add here explicitly, and with the correct keywords.
         #
         # @hunter: I feel that this is cumbersome and could introduce error, and would prefer to do
@@ -207,7 +195,6 @@ class AppLauncher:
         # Define config members that are read from env-vars or keyword args
         self._headless: bool  # 0: GUI, 1: Headless
         self._livestream: Literal[0, 1, 2, 3]  # 0: Disabled, 1: Native, 2: Websocket, 3: WebRTC
-        self._ros: Literal[0, 1, 2]  # 0: Disabled, 1: ROS1, 2: ROS2
         self._offscreen_render: bool  # 0: Disabled, 1: Enabled
 
         # Integrate env-vars and input keyword args into simulation app config
@@ -252,9 +239,6 @@ class AppLauncher:
         * ``livestream`` (int): If one of {0, 1, 2, 3}, then livestreaming and headless mode is enabled. The values
           map the same as that for the ``LIVESTREAM`` environment variable. If :obj:`-1`, then livestreaming is
           determined by the ``LIVESTREAM`` environment variable.
-        * ``ros`` (int): If one of {0, 1, 2}, then the corresponding ROS bridge is enabled. The values
-          map the same as that for the ``ROS_ENABLED`` environment variable. If :obj:`-1`, then ROS bridge is
-          determined by the ``ROS_ENABLED`` environment variable.
         * ``offscreen_render`` (bool): If True, the app will be launched in offscreen-render mode. The values
           map the same as that for the ``OFFSCREEN_RENDER`` environment variable. If False, then offscreen-render
           mode is determined by the ``OFFSCREEN_RENDER`` environment variable.
@@ -308,13 +292,6 @@ class AppLauncher:
             choices={0, 1, 2, 3},
             help="Force enable livestreaming. Mapping corresponds to that for the `LIVESTREAM` environment variable.",
         )
-        arg_group.add_argument(
-            "--ros",
-            type=int,
-            default=AppLauncher._APPLAUNCHER_CFG_INFO["ros"][1],
-            choices={0, 1, 2},
-            help="Enable ROS middleware. Mapping corresponds to that for the `ROS_ENABLED` environment variable",
-        )
         arg_group.add_argument(
             "--offscreen_render",
             action="store_true",
@@ -335,7 +312,6 @@ class AppLauncher:
     _APPLAUNCHER_CFG_INFO: dict[str, tuple[list[type], Any]] = {
         "headless": ([bool], False),
         "livestream": ([int], -1),
-        "ros": ([int], -1),
         "offscreen_render": ([bool], False),
     }
     """A dictionary of arguments added manually by the :meth:`AppLauncher.add_app_launcher_args` method.
@@ -497,32 +473,6 @@ class AppLauncher:
         # Headless needs to be passed to the SimulationApp so we keep it here
         launcher_args["headless"] = self._headless
 
-        # --ROS logic--
-        #
-        ros_env = int(os.environ.get("ROS_ENABLED", 0))
-        ros_arg = int(launcher_args.pop("ros", AppLauncher._APPLAUNCHER_CFG_INFO["ros"][1]))
-        ros_valid_vals = {0, 1, 2}
-        # Value checking on LIVESTREAM
-        if ros_env not in ros_valid_vals:
-            raise ValueError(
-                f"Invalid value for environment variable `ROS_ENABLED`: {ros_env} . Expected: {ros_valid_vals}."
-            )
-        # We allow livestream kwarg to supersede LIVESTREAM envvar
-        if ros_arg >= 0:
-            if ros_arg in ros_valid_vals:
-                self._ros = ros_arg
-                # print info that we overrode the env-var
-                print(
-                    f"[INFO][AppLauncher]: Input keyword argument `ros={ros_arg}` has overridden"
-                    f" the environment variable `ROS_ENABLED={ros_env}`."
-                )
-            else:
-                raise ValueError(
-                    f"Invalid value for input keyword argument `ros`: {ros_arg} . Expected: {ros_valid_vals}."
-                )
-        else:
-            self._ros = ros_env
-
         # --OFFSCREEN_RENDER logic--
         #
         # off-screen rendering
@@ -577,10 +527,7 @@ class AppLauncher:
         # These have to be loaded after SimulationApp is initialized
         import carb
         from omni.isaac.core.utils.extensions import enable_extension
-        from omni.isaac.version import get_version
 
-        # Read isaac sim version (this includes build tag, release tag etc.)
-        isaacsim_version = get_version()
         # Retrieve carb settings for modification
         carb_settings_iface = carb.settings.get_settings()
 
@@ -613,17 +560,6 @@ class AppLauncher:
         else:
             carb_settings_iface.set_bool("/app/livestream/enabled", False)
 
-        # As of IsaacSim 2022.1.1, the ros extension has to be loaded
-        # after the streaming extension or it will cause a segfault
-        # Note: Only one ROS bridge extension can be enabled at a time
-        if self._ros != 0:
-            if self._ros == 1:
-                enable_extension("omni.isaac.ros_bridge")
-            elif self._ros == 2:
-                enable_extension("omni.isaac.ros2_bridge")
-            else:
-                raise ValueError(f"Invalid value for ros: {self._ros}. Expected: 1, 2 .")
-
         # set carb setting to indicate orbit's offscreen_render pipeline should be enabled
         # this flag is used by the SimulationContext class to enable the offscreen_render pipeline
         # when the render() method is called.
@@ -656,9 +592,8 @@ class AppLauncher:
         # enable animation recording extension
         enable_extension("omni.kit.stagerecorder.core")
 
-        # set the nucleus directory manually to the 2023.1.0 version
-        # TODO: Remove this once the 2023.1.0 version is released
-        if int(isaacsim_version[2]) == 2023:
+        # set the nucleus directory manually to the latest published Nucleus
+        # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
         carb_settings_iface.set_string(
             "/persistent/isaac/asset_root/default",
             "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1",

source/extensions/omni.isaac.orbit/omni/isaac/orbit/compat/utils/kit.py

@@ -15,7 +15,6 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.kit
 from omni.isaac.core.materials import PhysicsMaterial
 from omni.isaac.core.prims import GeometryPrim
-from omni.isaac.version import get_version
 from pxr import Gf, PhysxSchema, UsdPhysics, UsdShade
 
 
@@ -102,10 +101,7 @@ def create_ground_plane(
     # Warning: This is specific to the default grid plane asset.
     ambient_light = kwargs.get("ambient_light", True)
     if ambient_light:
-        # check isaacsim version to determine the attribute name
         attributes = {"intensity": 600.0}
-        isaacsim_version = get_version()
-        if int(isaacsim_version[2]) > 2022:
         attributes = {f"inputs:{k}": v for k, v in attributes.items()}
         # create light prim
         prim_utils.create_prim(f"{prim_path}/AmbientLight", "DistantLight", attributes=attributes)

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene.py

@@ -14,7 +14,6 @@ import carb
 import omni.usd
 from omni.isaac.cloner import GridCloner
 from omni.isaac.core.prims import XFormPrimView
-from omni.isaac.version import get_version
 from pxr import PhysxSchema
 
 import omni.isaac.orbit.sim as sim_utils
@@ -103,11 +102,6 @@ class InteractiveScene:
     def __init__(self, cfg: InteractiveSceneCfg):
         """Initializes the scene.
 
-        .. note::
-            In Isaac Sim 2022.2, we do not have a way to copy the prim from source. It is always inherited.
-            Thus, it is not possible to have a scene with multiple environments with different assets (or
-            as we call heterogeneous environments). This limitation is fixed in Isaac Sim 2023.1.
-
         Args:
             cfg: The configuration class for the scene.
         """
@@ -121,17 +115,7 @@ class InteractiveScene:
         self.env_prim_paths = self.cloner.generate_paths(f"{self.env_ns}/env", self.cfg.num_envs)
         # create source prim
         self.stage.DefinePrim(self.env_prim_paths[0], "Xform")
-        # obtain major isaac sim version
-        isaac_major_version = int(get_version()[2])
         # clone the env xform
-        # in isaac sim 2022.2, we do not have a way to copy the prim from source. it is always inherited.
-        if isaac_major_version == 2022:
-            env_origins = self.cloner.clone(
-                source_prim_path=self.env_prim_paths[0],
-                prim_paths=self.env_prim_paths,
-                replicate_physics=False,
-            )
-        else:
         env_origins = self.cloner.clone(
             source_prim_path=self.env_prim_paths[0],
             prim_paths=self.env_prim_paths,
@@ -144,15 +128,6 @@ class InteractiveScene:
         # replicate physics if we have more than one environment
         # this is done to make scene initialization faster at play time
         if self.cfg.replicate_physics and self.cfg.num_envs > 1:
-            # in isaac sim 2022.2, this function is private
-            if isaac_major_version == 2022:
-                self.cloner._replicate_physics(  # pyright: ignore [reportPrivateUsage]
-                    source_prim_path=self.env_prim_paths[0],
-                    prim_paths=self.env_prim_paths,
-                    base_env_path=self.env_ns,
-                    root_path=self.env_regex_ns.replace(".*", ""),
-                )
-            else:
             self.cloner.replicate_physics(
                 source_prim_path=self.env_prim_paths[0],
                 prim_paths=self.env_prim_paths,

source/extensions/omni.isaac.orbit/omni/isaac/orbit/scene/interactive_scene_cfg.py

@@ -88,8 +88,4 @@ class InteractiveSceneCfg:
 
     replicate_physics: bool = True
     """Enable/disable replication of physics schemas when using the Cloner APIs. Default is True.
-
-    Note:
-        In Isaac Sim 2022.2.0, domain randomization of material properties is not supported when
-        ``replicate_physics`` is set to True.
     """

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/mesh_converter.py

@@ -12,7 +12,6 @@ import omni
 import omni.kit.commands
 import omni.usd
 from omni.isaac.core.utils.extensions import enable_extension
-from omni.isaac.version import get_version
 from pxr import Gf, Usd, UsdGeom, UsdPhysics, UsdUtils
 
 from omni.isaac.orbit.sim.converters.asset_converter_base import AssetConverterBase
@@ -93,22 +92,11 @@ class MeshConverter(AssetConverterBase):
 
         # Open converted USD stage
         # note: This opens a new stage and does not use the stage created earlier by the user
-        # TODO: Fix this in Isaac 2023 using Usd.Stage.Open and update MovePrim commands to take in opened stage
-        isaacsim_major_version = int(get_version()[2])
-        if isaacsim_major_version == 2022:
-            omni.usd.get_context().open_stage(self.usd_path)
-            stage = omni.usd.get_context().get_stage()
-            # we do not need to cache as we use opened stage
-            stage_id = None
-            # no kwargs for 2022
-            stage_kwargs = {}
-            stage_or_context_kwargs = {}
-        else:
         # create a new stage
         stage = Usd.Stage.Open(self.usd_path)
         # add USD to stage cache
         stage_id = UsdUtils.StageCache.Get().Insert(stage)
-            # need to make kwargs for compatibility with 2022
+        # need to make kwargs for compatibility with 2023
         stage_kwargs = {"stage": stage}
         stage_or_context_kwargs = {"stage_or_context": stage}
         # FIXME: we need to hack this into command because Kit 105 has a bug.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/converters/urdf_converter.py

@@ -10,7 +10,6 @@ import os
 import omni.kit.commands
 import omni.usd
 from omni.isaac.core.utils.extensions import enable_extension
-from omni.isaac.version import get_version
 from pxr import Usd
 
 from .asset_converter_base import AssetConverterBase
@@ -106,14 +105,7 @@ class UrdfConverter(AssetConverterBase):
         Returns:
             The constructed ``ImportConfig`` object containing the desired settings.
         """
-        # check if the urdf importer extension is available
-        # note: the urdf importer's name changed in 2023.1 onwards
-        isaacsim_version = get_version()
-        if int(isaacsim_version[2]) == 2022:
-            enable_extension("omni.isaac.urdf")
-
-            from omni.isaac.urdf import _urdf as omni_urdf
-        else:
+        # Enable urdf extension
         enable_extension("omni.importer.urdf")
 
         from omni.importer.urdf import _urdf as omni_urdf

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_cfg.py

@@ -59,10 +59,6 @@ class PhysxCfg:
         Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
         the number of iterations specified by the actor with the highest iteration and clamps it to
         the range ``[min_position_iteration_count, max_position_iteration_count]``.
-
-    .. versionchanged:: 2022.2
-
-        In Isaac Sim 2022.2.0, this parameter is used for setting both position and velocity iterations count.
     """
 
     max_position_iteration_count: int = 255
@@ -73,10 +69,6 @@ class PhysxCfg:
         Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
         the number of iterations specified by the actor with the highest iteration and clamps it to
         the range ``[min_position_iteration_count, max_position_iteration_count]``.
-
-    .. versionchanged:: 2022.2
-
-        In Isaac Sim 2022.2.0, this parameter is used for setting both position and velocity iterations count.
     """
 
     min_velocity_iteration_count: int = 0
@@ -87,10 +79,6 @@ class PhysxCfg:
         Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
         the number of iterations specified by the actor with the highest iteration and clamps it to
         the range ``[min_velocity_iteration_count, max_velocity_iteration_count]``.
-
-    .. versionadded:: 2023.1
-
-        This parameter is introduced in 2023.1.0. For older versions, please use :obj:`min_position_iteration_count`.
     """
 
     max_velocity_iteration_count: int = 255
@@ -101,10 +89,6 @@ class PhysxCfg:
         Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
         the number of iterations specified by the actor with the highest iteration and clamps it to
         the range ``[min_velocity_iteration_count, max_velocity_iteration_count]``.
-
-    .. versionadded:: 2023.1
-
-        This parameter is introduced in 2023.1.0. For older versions, please use :obj:`max_position_iteration_count`.
     """
 
     enable_ccd: bool = False
@@ -223,18 +207,6 @@ class SimulationCfg:
     Note:
         When enabled, the GUI will not update the physics parameters in real-time. To enable real-time
         updates, please set this flag to :obj:`False`.
-
-    .. versionadded:: 2023.1
-
-        This flag is introduced in 2023.1.0. For older versions, please use :obj:`use_flatcache` instead.
-    """
-
-    use_flatcache: bool = True
-    """Enable/disable reading of physics buffers directly. Default is True.
-
-    .. deprecated:: 2023.1
-
-        This flag is deprecated and will be removed in the future. Please use :obj:`use_fabric` instead.
     """
 
     disable_contact_processing: bool = False

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py

@@ -515,12 +515,6 @@ class SimulationContext(_SimulationContext):
         physics_scene.CreateGravityDirectionAttr(Gf.Vec3f(*gravity_direction))
         physics_scene.CreateGravityMagnitudeAttr(gravity_magnitude)
 
-        # simulation iteration count
-        if self.get_version()[0] == 2022:
-            # position and velocity iteration counts
-            physx_scene_api.CreateMinIterationCountAttr(self.cfg.physx.min_position_iteration_count)
-            physx_scene_api.CreateMaxIterationCountAttr(self.cfg.physx.max_position_iteration_count)
-        else:
         # position iteration count
         physx_scene_api.CreateMinPositionIterationCountAttr(self.cfg.physx.min_position_iteration_count)
         physx_scene_api.CreateMaxPositionIterationCountAttr(self.cfg.physx.max_position_iteration_count)
@@ -537,20 +531,7 @@ class SimulationContext(_SimulationContext):
         bind_physics_material(self.cfg.physics_prim_path, material_path)
 
     def _load_fabric_interface(self):
-        """Loads the flatcache/fabric interface if enabled."""
-        # check isaac sim version
-        # note: flatcache is called fabric in isaac sim 2023.x
-        #   in isaac sim 2022.x, we use physx-flatcache module
-        #   in isaac sim 2023.x, we use physx-fabric module
-        if self.get_version()[0] == 2022:
-            # check if flatcache is enabled
-            if self.cfg.use_flatcache:
-                from omni.physxflatcache import get_physx_flatcache_interface
-
-                # acquire flatcache interface
-                self._fabric_iface = get_physx_flatcache_interface()
-        else:
-            # check if fabric is enabled
+        """Loads the fabric interface if enabled."""
         if self.cfg.use_fabric:
             from omni.physxfabric import get_physx_fabric_interface
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py

@@ -10,7 +10,6 @@ from typing import TYPE_CHECKING
 import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.kit.commands
-from omni.isaac.version import get_version
 from pxr import Gf, Sdf, Usd
 
 from omni.isaac.orbit.sim import converters, schemas
@@ -166,12 +165,6 @@ def spawn_ground_plane(
     # Change the color of the plane
     # Warning: This is specific to the default grid plane asset.
     if cfg.color is not None:
-        # obtain isaac sim version
-        isaac_sim_version = int(get_version()[2])
-        # check the property name based on isaac sim version
-        if isaac_sim_version == 2022:
-            prop_path = f"{prim_path}/Looks/theGrid.inputs:diffuse_tint"
-        else:
         prop_path = f"{prim_path}/Looks/theGrid/Shader.inputs:diffuse_tint"
         # change the color
         omni.kit.commands.execute(

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py

@@ -8,7 +8,6 @@ from __future__ import annotations
 from typing import TYPE_CHECKING
 
 import omni.isaac.core.utils.prims as prim_utils
-from omni.isaac.version import get_version
 from pxr import Usd, UsdLux
 
 from omni.isaac.orbit.sim.utils import clone, safe_set_attribute_on_usd_prim
@@ -50,8 +49,6 @@ def spawn_light(
     # create the prim
     prim = prim_utils.create_prim(prim_path, prim_type=cfg.prim_type, translation=translation, orientation=orientation)
 
-    # obtain isaac sim version
-    isaac_sim_version = int(get_version()[2])
     # convert to dict
     cfg = cfg.to_dict()
     # delete spawner func specific parameters
@@ -72,11 +69,6 @@ def spawn_light(
                 light_prim.CreateTextureFormatAttr(value)
             else:
                 raise ValueError(f"Unsupported texture attribute: '{attr_name}'.")
-        else:
-            # there was a change in the USD API for setting attributes for lights
-            # USD 22.1 onwards, we need to set the attribute on the inputs namespace
-            if isaac_sim_version <= 2022:
-                prim_prop_name = attr_name
         else:
             prim_prop_name = f"inputs:{attr_name}"
             # set the attribute

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

@@ -17,7 +17,6 @@ import carb
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
 from omni.isaac.cloner import Cloner
-from omni.isaac.version import get_version
 from pxr import PhysxSchema, Sdf, Semantics, Usd, UsdGeom, UsdPhysics, UsdShade
 
 from omni.isaac.orbit.utils.string import to_camel_case
@@ -272,14 +271,8 @@ def clone(func: Callable) -> Callable:
         # clone asset using cloner API
         if len(prim_paths) > 1:
             cloner = Cloner()
-            # clone the prim based on isaac-sim version
-            isaac_major_version = int(get_version()[2])
-            if isaac_major_version <= 2022:
-                cloner.clone(prim_paths[0], prim_paths[1:], replicate_physics=False)
-            else:
-                cloner.clone(
-                    prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source
-                )
+            # clone the prim
+            cloner.clone(prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source)
         # return the source prim
         return prim
 

source/extensions/omni.isaac.orbit/setup.py

@@ -28,7 +28,7 @@ INSTALL_REQUIRES = [
     "gymnasium==0.29.0",
     # procedural-generation
     "trimesh",
-    "pyglet",
+    "pyglet<2",
 ]
 
 # Installation operation

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_camera.py

@@ -22,23 +22,27 @@ from __future__ import annotations
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import traceback
+
+import carb
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="This script shows the issue with renderer in Isaac Sim that affects episodic resets."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--gpu", action="store_true", default=False, help="Use GPU device for camera rendering output.")
 parser.add_argument("--scenario", type=str, default="anymal", help="Scenario to load.", choices=["anymal", "cube"])
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -191,7 +195,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not world.is_playing():
-            world.step(render=not args_cli.headless)
+            world.step(render=False)
             continue
         # Reset on intervals
         if count % 25 == 0:
@@ -246,7 +250,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
+    try:
+        # Run the main function
         main()
-    # Close the simulator
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_legged_robot_clone.py

@@ -16,13 +16,12 @@ from __future__ import annotations
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="This script shows the issue in Isaac Sim with GPU simulation of floating robots."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--num_robots", type=int, default=128, help="Number of robots to spawn.")
 parser.add_argument(
     "--asset",
@@ -30,18 +29,21 @@ parser.add_argument(
     default="orbit",
     help="The asset source location for the robot. Can be: orbit, oige, custom asset path.",
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
 
 import os
 import torch
+import traceback
 
 import carb
 import omni.isaac.core.utils.nucleus as nucleus_utils
@@ -167,7 +169,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not world.is_playing():
-            world.step(render=not args_cli.headless)
+            world.step(render=False)
             continue
         # perform step
         world.step()
@@ -176,7 +178,13 @@ def main():
 
 
 if __name__ == "__main__":
+    try:
         # Run the main function
         main()
-    # Close the simulator
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/deps/isaacsim/check_rep_texture_randomizer.py

@@ -26,18 +26,20 @@ from __future__ import annotations
 import argparse
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(
     description="This script shows how to use replicator to randomly change the textures of a USD scene."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 
 """Rest everything follows."""
@@ -45,7 +47,9 @@ simulation_app = SimulationApp(config)
 
 import numpy as np
 import torch
+import traceback
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 from omni.isaac.cloner import GridCloner
@@ -143,7 +147,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step()
             continue
         # Reset the scene
         if step_count % 500 == 0:
@@ -159,7 +163,13 @@ def main():
 
 
 if __name__ == "__main__":
-    # Runs the main function
+    try:
+        # Run the main function
         main()
-    # Close the simulator
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py

@@ -15,10 +15,11 @@ It is possible to add additional callbacks to it for user-defined operations.
 """Launch Isaac Sim Simulator first."""
 
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
-# launch the simulator
-simulation_app = SimulationApp({"headless": False})
+# launch omniverse app
+app_launcher = AppLauncher()
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 

source/extensions/omni.isaac.orbit/test/envs/test_null_command_term.py

@@ -7,17 +7,20 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
-config = {"headless": True}
-simulation_app = SimulationApp(config)
+app_launcher = AppLauncher()
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import traceback
 import unittest
 from collections import namedtuple
 
+import carb
+
 from omni.isaac.orbit.envs.mdp import NullCommandCfg
 
 
@@ -50,4 +53,12 @@ class TestNullCommandTerm(unittest.TestCase):
 
 
 if __name__ == "__main__":
+    try:
         unittest.main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/extensions/omni.isaac.orbit/test/managers/test_observation_manager.py

@@ -7,18 +7,21 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(config).app
 
 """Rest everything follows."""
 
 import torch
+import traceback
 import unittest
 from collections import namedtuple
 
+import carb
+
 from omni.isaac.orbit.managers import ManagerTermBase, ObservationGroupCfg, ObservationManager, ObservationTermCfg
 from omni.isaac.orbit.utils import configclass
 
@@ -297,5 +300,12 @@ class TestObservationManager(unittest.TestCase):
 
 
 if __name__ == "__main__":
+    try:
         unittest.main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/managers/test_reward_manager.py

@@ -7,17 +7,20 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(config).app
 
 """Rest everything follows."""
 
+import traceback
 import unittest
 from collections import namedtuple
 
+import carb
+
 from omni.isaac.orbit.managers import RewardManager, RewardTermCfg
 from omni.isaac.orbit.utils import configclass
 
@@ -168,5 +171,12 @@ class TestRewardManager(unittest.TestCase):
 
 
 if __name__ == "__main__":
+    try:
         unittest.main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/markers/test_visualization_markers.py

@@ -8,11 +8,11 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(config).app
 
 """Rest everything follows."""
 

source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py

@@ -18,17 +18,20 @@ from __future__ import annotations
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Contact Sensor Test Script")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--num_robots", type=int, default=64, help="Number of robots to spawn.")
+
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 
 """Rest everything follows."""
@@ -135,7 +138,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=False)
             continue
         # reset
         if count % 1000 == 0:
@@ -153,7 +156,7 @@ def main():
             # write commands to sim
             robot.write_data_to_sim()
             # perform step
-            sim.step(render=not args_cli.headless)
+            sim.step()
             # fetch data
             robot.update(physics_dt)
         # update sim-time

source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py

@@ -18,11 +18,10 @@ from __future__ import annotations
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Ray Caster Test Script")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--num_envs", type=int, default=128, help="Number of environments to clone.")
 parser.add_argument(
     "--terrain_type",
@@ -30,11 +29,14 @@ parser.add_argument(
     default="generator",
     help="Type of terrain to import. Can be 'generator' or 'usd' or 'plane'.",
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 
 """Rest everything follows."""
@@ -155,7 +157,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=False)
             continue
         # Reset the scene
         if step_count % 500 == 0:

source/extensions/omni.isaac.orbit/test/sim/test_simulation_context.py

@@ -78,7 +78,7 @@ class TestSimulationContext(unittest.TestCase):
         sim = SimulationContext()
         version = sim.get_version()
         self.assertTrue(len(version) > 0)
-        self.assertTrue(version[0] >= 2022)
+        self.assertTrue(version[0] >= 2023)
 
     def test_carb_setting(self):
         """Test setting carb settings."""

source/extensions/omni.isaac.orbit/test/sim/test_spawn_from_files.py

@@ -20,7 +20,6 @@ import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.extensions import get_extension_path_from_name
-from omni.isaac.version import get_version
 
 import omni.isaac.orbit.sim as sim_utils
 from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR
@@ -37,8 +36,6 @@ class TestSpawningFromFiles(unittest.TestCase):
         self.dt = 0.1
         # Load kit helper
         self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy")
-        # Isaac Sim version
-        self.isaacsim_version_year = int(get_version()[2])
         # Wait for spawning
         stage_utils.update_stage()
 
@@ -67,9 +64,6 @@ class TestSpawningFromFiles(unittest.TestCase):
     def test_spawn_urdf(self):
         """Test loading prim from URDF file."""
         # retrieve path to urdf importer extension
-        if self.isaacsim_version_year == 2022:
-            extension_path = get_extension_path_from_name("omni.isaac.urdf")
-        else:
         extension_path = get_extension_path_from_name("omni.importer.urdf")
         # Spawn franka from URDF
         cfg = sim_utils.UrdfFileCfg(

source/extensions/omni.isaac.orbit/test/sim/test_spawn_lights.py

@@ -156,9 +156,7 @@ class TestSpawningLights(unittest.TestCase):
                     raise ValueError(f"Unknown texture attribute: '{attr_name}'")
             else:
                 # convert attribute name in prim to cfg name
-                prim_prop_name = to_camel_case(attr_name, to="cC")
-                if self.isaac_sim_version > 2022:
-                    prim_prop_name = f"inputs:{prim_prop_name}"
+                prim_prop_name = f"inputs:{to_camel_case(attr_name, to='cC')}"
                 # configured value
                 configured_value = prim.GetAttribute(prim_prop_name).Get()
             # validate the values

source/extensions/omni.isaac.orbit/test/sim/test_urdf_converter.py

@@ -7,11 +7,11 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(config).app
 
 """Rest everything follows."""
 
@@ -27,7 +27,6 @@ import omni.isaac.core.utils.stage as stage_utils
 from omni.isaac.core.articulations import ArticulationView
 from omni.isaac.core.simulation_context import SimulationContext
 from omni.isaac.core.utils.extensions import get_extension_path_from_name
-from omni.isaac.version import get_version
 
 from omni.isaac.orbit.sim.converters import UrdfConverter, UrdfConverterCfg
 
@@ -39,12 +38,7 @@ class TestUrdfConverter(unittest.TestCase):
         """Create a blank new stage for each test."""
         # Create a new stage
         stage_utils.create_new_stage()
-        # Isaac Sim version
-        self.isaacsim_version_year = int(get_version()[2])
         # retrieve path to urdf importer extension
-        if self.isaacsim_version_year == 2022:
-            extension_path = get_extension_path_from_name("omni.isaac.urdf")
-        else:
         extension_path = get_extension_path_from_name("omni.importer.urdf")
         # default configuration
         self.config = UrdfConverterCfg(

source/extensions/omni.isaac.orbit/test/sim/test_utils.py

@@ -7,11 +7,11 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 config = {"headless": True}
-simulation_app = SimulationApp(config)
+simulation_app = AppLauncher(config).app
 
 """Rest everything follows."""
 

source/extensions/omni.isaac.orbit/test/terrains/check_height_field_subterrains.py

@@ -7,26 +7,35 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
+import argparse
 import os
+import traceback
+
+parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
+parser.add_argument(
+    "--headless", action="store_true", default=False, help="Don't create a window to display each output."
+)
+args_cli = parser.parse_args()
 
 from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app
 # note: we only need to do this because of `TerrainImporter` which uses Omniverse functions
 app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
-app_launcher = AppLauncher(headless=True, experience=app_experience)
+app_launcher = AppLauncher(experience=app_experience)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
-import argparse
 import trimesh
 
+import carb
+
 import omni.isaac.orbit.terrains.height_field as hf_gen
 from omni.isaac.orbit.terrains.utils import color_meshes_by_height
 
 
-def test_random_uniform_terrain(difficulty: float):
+def test_random_uniform_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfRandomUniformTerrainCfg(
         size=(8.0, 8.0),
@@ -56,7 +65,7 @@ def test_random_uniform_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Random Uniform Terrain")
 
 
-def test_pyramid_sloped_terrain(difficulty: float, inverted: bool):
+def test_pyramid_sloped_terrain(difficulty: float, inverted: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfPyramidSlopedTerrainCfg(
         size=(8.0, 8.0),
@@ -93,7 +102,7 @@ def test_pyramid_sloped_terrain(difficulty: float, inverted: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_pyramid_stairs_terrain(difficulty: float, inverted: bool):
+def test_pyramid_stairs_terrain(difficulty: float, inverted: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfPyramidStairsTerrainCfg(
         size=(8.0, 8.0),
@@ -131,7 +140,7 @@ def test_pyramid_stairs_terrain(difficulty: float, inverted: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_discrete_obstacles_terrain(difficulty: float, obstacle_height_mode: str):
+def test_discrete_obstacles_terrain(difficulty: float, obstacle_height_mode: str, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfDiscreteObstaclesTerrainCfg(
         size=(8.0, 8.0),
@@ -172,7 +181,7 @@ def test_discrete_obstacles_terrain(difficulty: float, obstacle_height_mode: str
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_wave_terrain(difficulty: float):
+def test_wave_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfWaveTerrainCfg(
         size=(8.0, 8.0),
@@ -201,7 +210,7 @@ def test_wave_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Wave Terrain")
 
 
-def test_stepping_stones_terrain(difficulty: float):
+def test_stepping_stones_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = hf_gen.HfSteppingStonesTerrainCfg(
         size=(8.0, 8.0),
@@ -233,28 +242,38 @@ def test_stepping_stones_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Stepping Stones Terrain")
 
 
-if __name__ == "__main__":
-    # Create argparse for headless mode
-    parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
-    parser.add_argument("--headless", action="store_true", default=False, help="Run in headless mode")
-    args = parser.parse_args()
-    # Read headless mode
-    headless = args.headless
+def main():
     # Create directory to dump results
     test_dir = os.path.dirname(os.path.abspath(__file__))
     output_dir = os.path.join(test_dir, "output", "terrains", "height_field")
     if not os.path.exists(output_dir):
         os.makedirs(output_dir, exist_ok=True)
+    # Read headless mode
+    headless = args_cli.headless
     # generate terrains
-    test_random_uniform_terrain(difficulty=0.25)
-    test_pyramid_sloped_terrain(difficulty=0.25, inverted=False)
-    test_pyramid_sloped_terrain(difficulty=0.25, inverted=True)
-    test_pyramid_stairs_terrain(difficulty=0.25, inverted=False)
-    test_pyramid_stairs_terrain(difficulty=0.25, inverted=True)
-    test_discrete_obstacles_terrain(difficulty=0.25, obstacle_height_mode="choice")
-    test_discrete_obstacles_terrain(difficulty=0.25, obstacle_height_mode="fixed")
-    test_wave_terrain(difficulty=0.25)
-    test_stepping_stones_terrain(difficulty=1.0)
+    test_random_uniform_terrain(difficulty=0.25, output_dir=output_dir, headless=headless)
+    test_pyramid_sloped_terrain(difficulty=0.25, inverted=False, output_dir=output_dir, headless=headless)
+    test_pyramid_sloped_terrain(difficulty=0.25, inverted=True, output_dir=output_dir, headless=headless)
+    test_pyramid_stairs_terrain(difficulty=0.25, inverted=False, output_dir=output_dir, headless=headless)
+    test_pyramid_stairs_terrain(difficulty=0.25, inverted=True, output_dir=output_dir, headless=headless)
+    test_discrete_obstacles_terrain(
+        difficulty=0.25, obstacle_height_mode="choice", output_dir=output_dir, headless=headless
+    )
+    test_discrete_obstacles_terrain(
+        difficulty=0.25, obstacle_height_mode="fixed", output_dir=output_dir, headless=headless
+    )
+    test_wave_terrain(difficulty=0.25, output_dir=output_dir, headless=headless)
+    test_stepping_stones_terrain(difficulty=1.0, output_dir=output_dir, headless=headless)
 
-    # close the app
+
+if __name__ == "__main__":
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/check_mesh_subterrains.py

@@ -7,7 +7,15 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
+import argparse
 import os
+import traceback
+
+parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
+parser.add_argument(
+    "--headless", action="store_true", default=False, help="Don't create a window to display each output."
+)
+args_cli = parser.parse_args()
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -22,11 +30,13 @@ simulation_app = app_launcher.app
 import argparse
 import trimesh
 
+import carb
+
 import omni.isaac.orbit.terrains.trimesh as mesh_gen
 from omni.isaac.orbit.terrains.utils import color_meshes_by_height
 
 
-def test_flat_terrain(difficulty: float):
+def test_flat_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshPlaneTerrainCfg(size=(8.0, 8.0))
     # generate the terrain
@@ -48,7 +58,7 @@ def test_flat_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Flat Terrain")
 
 
-def test_pyramid_stairs_terrain(difficulty: float, holes: bool):
+def test_pyramid_stairs_terrain(difficulty: float, holes: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshPyramidStairsTerrainCfg(
         size=(8.0, 8.0),
@@ -84,7 +94,7 @@ def test_pyramid_stairs_terrain(difficulty: float, holes: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_inverted_pyramid_stairs_terrain(difficulty: float, holes: bool):
+def test_inverted_pyramid_stairs_terrain(difficulty: float, holes: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshInvertedPyramidStairsTerrainCfg(
         size=(8.0, 8.0),
@@ -120,7 +130,7 @@ def test_inverted_pyramid_stairs_terrain(difficulty: float, holes: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_random_grid_terrain(difficulty: float, holes: bool):
+def test_random_grid_terrain(difficulty: float, holes: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshRandomGridTerrainCfg(
         size=(8.0, 8.0),
@@ -155,7 +165,7 @@ def test_random_grid_terrain(difficulty: float, holes: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_rails_terrain(difficulty: float):
+def test_rails_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshRailsTerrainCfg(
         size=(8.0, 8.0),
@@ -182,7 +192,7 @@ def test_rails_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Rail Terrain")
 
 
-def test_pit_terrain(difficulty: float, double_pit: bool):
+def test_pit_terrain(difficulty: float, double_pit: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshPitTerrainCfg(
         size=(8.0, 8.0), platform_width=1.5, pit_depth_range=(0.05, 1.1), double_pit=double_pit
@@ -213,7 +223,7 @@ def test_pit_terrain(difficulty: float, double_pit: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_box_terrain(difficulty: float, double_box: bool):
+def test_box_terrain(difficulty: float, double_box: bool, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshBoxTerrainCfg(
         size=(8.0, 8.0),
@@ -247,7 +257,7 @@ def test_box_terrain(difficulty: float, double_box: bool):
         trimesh.viewer.SceneViewer(scene=scene, caption=caption)
 
 
-def test_gap_terrain(difficulty: float):
+def test_gap_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshGapTerrainCfg(
         size=(8.0, 8.0),
@@ -273,7 +283,7 @@ def test_gap_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Gap Terrain")
 
 
-def test_floating_ring_terrain(difficulty: float):
+def test_floating_ring_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshFloatingRingTerrainCfg(
         size=(8.0, 8.0),
@@ -301,7 +311,7 @@ def test_floating_ring_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Floating Ring Terrain")
 
 
-def test_star_terrain(difficulty: float):
+def test_star_terrain(difficulty: float, output_dir: str, headless: bool):
     # parameters for the terrain
     cfg = mesh_gen.MeshStarTerrainCfg(
         size=(8.0, 8.0),
@@ -329,7 +339,9 @@ def test_star_terrain(difficulty: float):
         trimesh.viewer.SceneViewer(scene=scene, caption="Star Terrain")
 
 
-def test_repeated_objects_terrain(difficulty: float, object_type: str, provide_as_string: bool = False):
+def test_repeated_objects_terrain(
+    difficulty: float, object_type: str, output_dir: str, headless: bool, provide_as_string: bool = False
+):
     # parameters for the terrain
     if object_type == "pyramid":
         cfg = mesh_gen.MeshRepeatedPyramidsTerrainCfg(
@@ -393,38 +405,39 @@ def test_repeated_objects_terrain(difficulty: float, object_type: str, provide_a
         trimesh.viewer.SceneViewer(scene=scene, caption=f"Repeated Objects Terrain: {object_type}")
 
 
-if __name__ == "__main__":
-    # Create argparse for headless mode
-    parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
-    parser.add_argument("--headless", action="store_true", default=False, help="Run in headless mode")
-    args = parser.parse_args()
-    # Read headless mode
-    headless = args.headless
+def main():
     # Create directory to dump results
     test_dir = os.path.dirname(os.path.abspath(__file__))
     output_dir = os.path.join(test_dir, "output", "terrains", "trimesh")
     if not os.path.exists(output_dir):
         os.makedirs(output_dir, exist_ok=True)
+    # Read headless mode
+    headless = args_cli.headless
     # generate terrains
-    test_flat_terrain(difficulty=0.0)
-    test_pyramid_stairs_terrain(difficulty=0.75, holes=False)
-    test_pyramid_stairs_terrain(difficulty=0.75, holes=True)
-    test_inverted_pyramid_stairs_terrain(difficulty=0.75, holes=False)
-    test_inverted_pyramid_stairs_terrain(difficulty=0.75, holes=True)
-    test_random_grid_terrain(difficulty=0.75, holes=False)
-    test_random_grid_terrain(difficulty=0.75, holes=True)
-    test_rails_terrain(difficulty=0.75)
-    test_pit_terrain(difficulty=0.75, double_pit=False)
-    test_pit_terrain(difficulty=0.75, double_pit=True)
-    test_box_terrain(difficulty=0.75, double_box=False)
-    test_box_terrain(difficulty=0.75, double_box=True)
-    test_gap_terrain(difficulty=0.75)
-    test_floating_ring_terrain(difficulty=0.75)
-    test_star_terrain(difficulty=0.75)
-    test_repeated_objects_terrain(difficulty=0.75, object_type="pyramid")
-    test_repeated_objects_terrain(difficulty=0.75, object_type="cylinder")
-    test_repeated_objects_terrain(difficulty=0.75, object_type="box")
-    test_repeated_objects_terrain(difficulty=0.75, object_type="cylinder", provide_as_string=True)
-
-    # close the app
+    test_flat_terrain(difficulty=0.0, output_dir=output_dir, headless=headless)
+    test_pyramid_stairs_terrain(difficulty=0.75, holes=False, output_dir=output_dir, headless=headless)
+    test_pyramid_stairs_terrain(difficulty=0.75, holes=True, output_dir=output_dir, headless=headless)
+    test_inverted_pyramid_stairs_terrain(difficulty=0.75, holes=False, output_dir=output_dir, headless=headless)
+    test_inverted_pyramid_stairs_terrain(difficulty=0.75, holes=True, output_dir=output_dir, headless=headless)
+    test_random_grid_terrain(difficulty=0.75, holes=False, output_dir=output_dir, headless=headless)
+    test_random_grid_terrain(difficulty=0.75, holes=True, output_dir=output_dir, headless=headless)
+    test_star_terrain(difficulty=0.75, output_dir=output_dir, headless=headless)
+    test_repeated_objects_terrain(difficulty=0.75, object_type="pyramid", output_dir=output_dir, headless=headless)
+    test_repeated_objects_terrain(difficulty=0.75, object_type="cylinder", output_dir=output_dir, headless=headless)
+    test_repeated_objects_terrain(difficulty=0.75, object_type="box", output_dir=output_dir, headless=headless)
+    test_repeated_objects_terrain(
+        difficulty=0.75, object_type="cylinder", provide_as_string=True, output_dir=output_dir, headless=headless
+    )
+
+
+if __name__ == "__main__":
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/check_terrain_generator.py

@@ -7,8 +7,8 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-
 import os
+import traceback
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -22,10 +22,13 @@ simulation_app = app_launcher.app
 
 import shutil
 
+import carb
+
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
 from omni.isaac.orbit.terrains.terrain_generator import TerrainGenerator
 
-if __name__ == "__main__":
+
+def main():
     # Create directory to dump results
     test_dir = os.path.dirname(os.path.abspath(__file__))
     output_dir = os.path.join(test_dir, "output", "generator")
@@ -39,7 +42,17 @@ if __name__ == "__main__":
     ROUGH_TERRAINS_CFG.cache_dir = output_dir
     ROUGH_TERRAINS_CFG.curriculum = False
     # generate terrains
-    terrain_generator = TerrainGenerator(cfg=ROUGH_TERRAINS_CFG)
+    terrain_generator = TerrainGenerator(cfg=ROUGH_TERRAINS_CFG)  # noqa: F841
+
 
-    # close the simulation app
+if __name__ == "__main__":
+    try:
+        # Run the main function
+        main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
         simulation_app.close()

source/extensions/omni.isaac.orbit/test/terrains/check_terrain_importer.py

@@ -33,11 +33,10 @@ from __future__ import annotations
 import argparse
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script shows how to use the terrain importer.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--geom_sphere", action="store_true", default=False, help="Whether to use sphere mesh or shape.")
 parser.add_argument(
     "--terrain_type",
@@ -53,12 +52,14 @@ parser.add_argument(
     choices=["height", "random", "none"],
     help="The color scheme to use for the generated terrain.",
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -185,7 +186,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step()
             continue
         # Reset the scene
         if step_count % 500 == 0:

source/extensions/omni.isaac.orbit/test/utils/test_math.py

@@ -6,6 +6,7 @@
 from __future__ import annotations
 
 import torch
+import traceback
 import unittest
 
 """Launch Isaac Sim Simulator first.
@@ -16,7 +17,9 @@ This is only needed because of warp dependency.
 from omni.isaac.orbit.app import AppLauncher
 
 # launch omniverse app in headless mode
-app_launcher = AppLauncher(headless=True)
+simulation_app = AppLauncher(headless=True).app
+
+import carb
 
 import omni.isaac.orbit.utils.math as math_utils
 
@@ -49,4 +52,12 @@ class TestMathUtilities(unittest.TestCase):
 
 
 if __name__ == "__main__":
+    try:
         unittest.main()
+    except Exception as err:
+        carb.log_error(err)
+        carb.log_error(traceback.format_exc())
+        raise
+    finally:
+        # close sim app
+        simulation_app.close()

source/standalone/tools/check_instanceable.py

@@ -48,21 +48,22 @@ import contextlib
 import os
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Utility to empirically check if asset in instanced properly.")
 parser.add_argument("input", type=str, help="The path to the USD file.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("-n", "--num_clones", type=int, default=128, help="Number of clones to spawn.")
 parser.add_argument("-s", "--spacing", type=float, default=1.5, help="Spacing between instances in a grid.")
 parser.add_argument("-p", "--physics", action="store_true", default=False, help="Clone assets using physics cloner.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -123,7 +124,7 @@ def main():
     # Simulate scene (if not headless)
     if not args_cli.headless:
         with contextlib.suppress(KeyboardInterrupt):
-            while True:
+            while sim.is_playing():
                 # perform step
                 sim.step()
 

source/standalone/tools/convert_mesh.py

@@ -29,7 +29,6 @@ positional arguments:
 
 optional arguments:
   -h, --help                    Show this help message and exit
-  --headless                    Force display off at all times. (default: False)
   --make-instanceable,          Make the asset instanceable for efficient cloning. (default: False)
   --collision-approximation     The method used for approximating collision mesh. Defaults to convexDecomposition.
                                 Set to \"none\" to not add a collision mesh to the converted mesh. (default: convexDecomposition)
@@ -49,7 +48,6 @@ from omni.isaac.orbit.app import AppLauncher
 parser = argparse.ArgumentParser(description="Utility to convert a mesh file into USD format.")
 parser.add_argument("input", type=str, help="The path to the input mesh file.")
 parser.add_argument("output", type=str, help="The path to store the USD file.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument(
     "--make-instanceable",
     action="store_true",
@@ -72,16 +70,21 @@ parser.add_argument(
     default=None,
     help="The mass (in kg) to assign to the converted asset. If not provided, then no mass is added.",
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-simulation_app = AppLauncher(headless=args_cli.headless).app
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
 import os
+import traceback
 
+import carb
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.app
 
@@ -149,28 +152,35 @@ def main():
     print("-" * 80)
     print("-" * 80)
 
+    # Determine if there is a GUI to update:
+    # acquire settings interface
+    carb_settings_iface = carb.settings.get_settings()
+    # read flag for whether a local GUI is enabled
+    local_gui = carb_settings_iface.get("/app/window/enabled")
+    # read flag for whether livestreaming GUI is enabled
+    livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
+
     # Simulate scene (if not headless)
-    if not args_cli.headless:
+    if local_gui or livestream_gui:
         # Open the stage with USD
         stage_utils.open_stage(mesh_converter.usd_path)
         # Reinitialize the simulation
         app = omni.kit.app.get_app_interface()
         # Run simulation
         with contextlib.suppress(KeyboardInterrupt):
-            while True:
+            while app.is_running():
                 # perform step
                 app.update()
 
 
 if __name__ == "__main__":
     try:
+        # run the main execution
         main()
-    except Exception as e:
-        import traceback
-
-        import carb
-
+    except Exception as err:
+        carb.log_error(err)
         carb.log_error(traceback.format_exc())
-        carb.log_error(e)
+        raise
     finally:
+        # close sim app
         simulation_app.close()

source/standalone/tools/convert_urdf.py

@@ -21,7 +21,6 @@ positional arguments:
 
 optional arguments:
   -h, --help                Show this help message and exit
-  --headless                Force display off at all times. (default: False)
   --merge-joints            Consolidate links that are connected by fixed joints. (default: False)
   --fix-base                Fix the base to where it is imported. (default: False)
   --make-instanceable       Make the asset instanceable for efficient cloning. (default: False)
@@ -37,13 +36,12 @@ import argparse
 import contextlib
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Utility to convert a URDF into USD format.")
 parser.add_argument("input", type=str, help="The path to the input URDF file.")
 parser.add_argument("output", type=str, help="The path to store the USD file.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument(
     "--merge-joints",
     action="store_true",
@@ -57,12 +55,14 @@ parser.add_argument(
     default=False,
     help="Make the asset instanceable for efficient cloning.",
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -118,15 +118,23 @@ def main():
     print("-" * 80)
     print("-" * 80)
 
+    # Determine if there is a GUI to update:
+    # acquire settings interface
+    carb_settings_iface = carb.settings.get_settings()
+    # read flag for whether a local GUI is enabled
+    local_gui = carb_settings_iface.get("/app/window/enabled")
+    # read flag for whether livestreaming GUI is enabled
+    livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
+
     # Simulate scene (if not headless)
-    if not args_cli.headless:
+    if local_gui or livestream_gui:
         # Open the stage with USD
         stage_utils.open_stage(urdf_converter.usd_path)
         # Reinitialize the simulation
         app = omni.kit.app.get_app_interface()
         # Run simulation
         with contextlib.suppress(KeyboardInterrupt):
-            while True:
+            while app.is_running():
                 # perform step
                 app.update()