Adds Kit command line argument support (#1293)

# Description

This change adds the option to pass command line arguments directly to
OV kit. This avoids the need of having to modify the app files to change
settings for OV.


## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [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

isaaclab.sh

@@ -350,7 +350,7 @@ while [[ $# -gt 0 ]]; do
             python_exe=$(extract_python_exe)
             echo "[INFO] Using python from: ${python_exe}"
             shift # past argument
-            ${python_exe} $@
+            ${python_exe} "$@"
             # exit neatly
             break
             ;;

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.27.1"
+version = "0.27.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

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

 Changelog
 ---------
 
+0.27.2 (2024-10-21)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``--kit_args`` to :class:`~omni.isaac.lab.app.AppLauncher` to allow passing command line arguments directly to Omniverse Kit SDK.
+
+
 0.27.1 (2024-10-20)
 ~~~~~~~~~~~~~~~~~~~
 

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

@@ -185,6 +185,10 @@ class AppLauncher:
           * 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``.
 
+        * ``kit_args`` (str): Optional command line arguments to be passed to Omniverse Kit directly.
+          Arguments should be combined into a single string separated by space.
+          Example usage: --kit_args "--ext-folder=/path/to/ext1 --ext-folder=/path/to/ext2"
+
         Args:
             parser: An argument parser instance to be extended with the AppLauncher specific options.
         """
@@ -271,6 +275,15 @@ class AppLauncher:
                 " it is resolved relative to the `apps` folder in Isaac Sim and Isaac Lab (in that order)."
             ),
         )
+        arg_group.add_argument(
+            "--kit_args",
+            type=str,
+            default="",
+            help=(
+                "Command line arguments for Omniverse Kit as a string separated by a space delimiter."
+                ' Example usage: --kit_args "--ext-folder=/path/to/ext1 --ext-folder=/path/to/ext2"'
+            ),
+        )
 
         # Corresponding to the beginning of the function,
         # if we have removed -h/--help handling, we add it back.
@@ -557,6 +570,12 @@ class AppLauncher:
                 " The file does not exist."
             )
 
+        # Resolve additional arguments passed to Kit
+        self._kit_args = []
+        if "kit_args" in launcher_args:
+            self._kit_args = [arg for arg in launcher_args["kit_args"].split()]
+            sys.argv += self._kit_args
+
         # Resolve the absolute path of the experience file
         self._sim_experience_file = os.path.abspath(self._sim_experience_file)
         print(f"[INFO][AppLauncher]: Loading experience file: {self._sim_experience_file}")
@@ -595,6 +614,9 @@ class AppLauncher:
         # remove the threadCount argument from sys.argv if it was added for distributed training
         pattern = r"--/plugins/carb\.tasking\.plugin/threadCount=\d+"
         sys.argv = [arg for arg in sys.argv if not re.match(pattern, arg)]
+        # remove additional OV args from sys.argv
+        if len(self._kit_args) > 0:
+            sys.argv = [arg for arg in sys.argv if arg not in self._kit_args]
 
     def _rendering_enabled(self) -> bool:
         """Check if rendering is required by the app."""