Passes device from CLI args to simulation config in standalone scripts (#1114)

# Description

This pull request fixes an issue where the device was being parsed by
the app launcher but not set into the scripts. This change ensures that
the device is correctly passed from CLI arguments to the simulation
configuration in standalone scripts.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] 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

docs/source/how-to/estimate_how_many_cameras_can_run.rst

@@ -23,13 +23,13 @@ numbers of cameras that can run in your task environment up to a
 certain specified system resource utilization threshold (without training; taking zero actions
 at each timestep).
 
-This guide accompanies the ``benchmark_cameras.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors``
+This guide accompanies the ``benchmark_cameras.py`` script in the ``source/standalone/benchmarks``
 directory.
 
 .. dropdown:: Code for benchmark_cameras.py
    :icon: code
 
-   .. literalinclude:: ../../../source/standalone/tutorials/04_sensors/benchmark_cameras.py
+   .. literalinclude:: ../../../source/standalone/benchmarks/benchmark_cameras.py
       :language: python
       :linenos:
 
@@ -41,7 +41,7 @@ First, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
 
 to see all possible parameters you can vary with this utility.
 
@@ -61,7 +61,7 @@ only in RGB mode, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb
@@ -74,7 +74,7 @@ you can run with cartpole, you could run:
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb --autotune \
@@ -97,7 +97,7 @@ For example, to view 100 random objects with 2 standard cameras, one could run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --height 100 --width 100 --num_standard_cameras 2 \
    --standard_camera_data_types instance_segmentation_fast normals --num_objects 100 \
    --experiment_length 100
@@ -118,4 +118,4 @@ If your system has a hard time handling the desired cameras, you can try the fol
    - Decrease the number of objects in the scene
 
 If your system is able to handle the amount of cameras, then the time statistics will be printed to the terminal.
-After the simulations stops it can be closed with CTRL C.
+After the simulations stops it can be closed with CTRL+C.

docs/source/overview/environments.rst

@@ -53,13 +53,13 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
     |                  |                             |                                                                         |
     |                  | |cartpole-direct-link|      |                                                                         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+
-    | |cartpole|       | |manager-camera-rgb-link|   | Move the cart to keep the pole upwards in the classic cartpole control  |
+    | |cartpole|       | |cartpole-rgb-link|         | Move the cart to keep the pole upwards in the classic cartpole control  |
     |                  |                             | and perceptive inputs                                                   |
-    |                  | |manager-camera-dpt-link|   |                                                                         |
+    |                  | |cartpole-depth-link|       |                                                                         |
     |                  |                             |                                                                         |
-    |                  | |cartpole-camera-rgb-link|  |                                                                         |
+    |                  | |cartpole-rgb-direct-link|  |                                                                         |
     |                  |                             |                                                                         |
-    |                  | |cartpole-camera-dpt-link|  |                                                                         |
+    |                  | |cartpole-depth-direct-link||                                                                         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+
 
 .. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
@@ -69,16 +69,14 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
 .. |humanoid-link| replace:: `Isaac-Humanoid-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
 .. |ant-link| replace:: `Isaac-Ant-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
 .. |cartpole-link| replace:: `Isaac-Cartpole-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__
+.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
 
 .. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py>`__
 .. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py>`__
-.. |manager-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |manager-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
 .. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py>`__
-.. |manager-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |manager-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |cartpole-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
-.. |cartpole-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+.. |cartpole-rgb-direct-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+.. |cartpole-depth-direct-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
 
 Manipulation
 ~~~~~~~~~~~~

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -178,11 +178,11 @@ class AppLauncher:
         * ``experience`` (str): The experience file to load when launching the SimulationApp. If a relative path
           is provided, it is resolved relative to the ``apps`` folder in Isaac Sim and Isaac Lab (in that order).
 
-          If provided as an empty string, the experience file is determined based on the headless flag:
+          If provided as an empty string, the experience file is determined based on the command-line flags:
 
           * If headless and enable_cameras are True, the experience file is set to ``isaaclab.python.headless.rendering.kit``.
           * If headless is False and enable_cameras is True, the experience file is set to ``isaaclab.python.rendering.kit``.
-          * If headless is False and enable_cameras is False, the experience file is set to ``isaaclab.python.kit``.
+          * If headless and enable_cameras are False, the experience file is set to ``isaaclab.python.kit``.
           * If headless is True and enable_cameras is False, the experience file is set to ``isaaclab.python.headless.kit``.
 
         Args:

source/standalone/tutorials/04_sensors/benchmark_cameras.py → source/standalone/benchmarks/benchmark_cameras.py

@@ -5,18 +5,19 @@
 
 """
 This script might help you determine how many cameras your system can realistically run
-at different desired settings. You can supply different task environments
-to inject cameras into, or just test a sample scene. Additionally,
-you can automatically find the maximum amount of cameras you can run a task with through the
-autotune functionality.
+at different desired settings.
+
+You can supply different task environments to inject cameras into, or just test a sample scene.
+Additionally, you can automatically find the maximum amount of cameras you can run a task with
+through the auto-tune functionality.
 
 .. code-block:: bash
 
     # Usage with GUI
-    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h
+    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
 
     # Usage with headless
-    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h --headless
+    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h --headless
 
 """
 
@@ -753,7 +754,7 @@ def main():
     print("[INFO]: Designing the scene")
     if args_cli.task is None:
         print("[INFO]: No task environment provided, creating random scene.")
-        sim_cfg = sim_utils.SimulationCfg(device="cpu" if args_cli.cpu else "cuda")
+        sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
         sim = sim_utils.SimulationContext(sim_cfg)
         # Set main camera
         sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

source/standalone/demos/arms.py

@@ -210,7 +210,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([3.5, 0.0, 3.2], [0.0, 0.0, 0.5])

source/standalone/demos/bipeds.py

@@ -47,9 +47,9 @@ from omni.isaac.lab_assets import G1_CFG  # isort:skip
 
 def main():
     """Main function."""
-
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
 

source/standalone/demos/cameras.py

@@ -9,10 +9,10 @@ This script demonstrates the different camera sensors that can be attached to a
 .. code-block:: bash
 
     # Usage
-    ./isaaclab.sh -p source/standalone/demos/cameras.py --disable_fabric
+    ./isaaclab.sh -p source/standalone/demos/cameras.py --enable_cameras
 
     # Usage in headless mode
-    ./isaaclab.sh -p source/standalone/demos/cameras.py --headless --enable_cameras --disable_fabric
+    ./isaaclab.sh -p source/standalone/demos/cameras.py --headless --enable_cameras
 
 """
 
@@ -274,16 +274,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 
 def main():
     """Main function."""
-
-    # note: tile rendered cameras doesn't update the camera poses when using the GPU pipeline and Fabric.
-    #   this is a bug which should be fixed in the future releases.
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
-    # check if fabric is enabled
-    if args_cli.disable_fabric:
-        sim_cfg.use_fabric = False
-        sim_cfg.device = "cpu"
-
     # Initialize the simulation context
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, use_fabric=not args_cli.disable_fabric)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/standalone/demos/deformables.py

@@ -177,7 +177,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([4.0, 4.0, 3.0], [0.5, 0.5, 0.0])

source/standalone/demos/hands.py

@@ -143,9 +143,9 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 
 def main():
     """Main function."""
-
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.0, -0.5, 1.5], target=[0.0, -0.2, 0.5])
     # design scene

source/standalone/demos/markers.py

@@ -94,7 +94,8 @@ def define_markers() -> VisualizationMarkers:
 def main():
     """Main function."""
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
 

source/standalone/demos/procedural_terrain.py

@@ -152,9 +152,9 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, AssetBas
 
 def main():
     """Main function."""
-
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
     # design scene

source/standalone/demos/quadcopter.py

@@ -45,9 +45,9 @@ from omni.isaac.lab_assets import CRAZYFLIE_CFG  # isort:skip
 
 def main():
     """Main function."""
-
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.5, 0.5, 1.0], target=[0.0, 0.0, 0.5])
 

source/standalone/tutorials/00_sim/launch_app.py

@@ -70,7 +70,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

source/standalone/tutorials/00_sim/spawn_prims.py

@@ -92,7 +92,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

source/standalone/tutorials/01_assets/run_articulation.py

@@ -120,7 +120,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu")
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/01_assets/run_deformable_object.py

@@ -146,7 +146,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.0, 0.0, 1.0], target=[0.0, 0.0, 0.5])

source/standalone/tutorials/01_assets/run_rigid_object.py

@@ -125,7 +125,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, RigidObj
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[1.5, 0.0, 1.0], target=[0.0, 0.0, 0.0])

source/standalone/tutorials/02_scene/create_scene.py

@@ -109,7 +109,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu")
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/04_sensors/add_sensors_on_robot.py

@@ -156,7 +156,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/standalone/tutorials/04_sensors/run_frame_transformer.py

@@ -164,7 +164,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
 def main():
     """Main function."""
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # Design the scene

source/standalone/tutorials/04_sensors/run_ray_caster.py

@@ -129,7 +129,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
 def main():
     """Main function."""
     # Load simulation context
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([0.0, 15.0, 15.0], [0.0, 0.0, -2.5])

source/standalone/tutorials/05_controllers/run_diff_ik.py

@@ -190,7 +190,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])