Adds `AppLauncher` to configure the `SimulationApp` based on environment variables (#33)

# Description

Adds the class `AppLauncher` which takes configuration arguments to the
Isaac Sim `SimulationApp` and several environment variables. It launches
the SimulationApp and corresponding extensions in a controlled manner
allowing users to decide between different remote deployments, ROS
bridges, and viewport rendering.

AppLauncher can then be queried for logic on other SimulationApp
operations e.g. whether or not `SimulationContext.step()` should render
or not based on the resolved flags `AppLauncher.VIEWPORT` and
`AppLauncher.RENDER`.

Fixes #32 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

docs/source/api/index.rst

@@ -9,6 +9,7 @@ omni.isaac.orbit extension
 
    orbit.actuators.group
    orbit.actuators.model
+   orbit.app
    orbit.asset_loader
    orbit.devices
    orbit.markers

docs/source/api/orbit.app.rst

+omni.isaac.orbit.app
+~~~~~~~~~~~~~~~~~~~~
+.. automodule:: omni.isaac.orbit.app
+   :members:
+   :undoc-members:

docs/source/tutorials/00_empty.rst

@@ -21,7 +21,7 @@ The tutorial corresponds to the ``play_empty.py`` script in the ``orbit/source/s
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :emphasize-lines: 20-22,42-43,65-66,70-80,86-87
+   :emphasize-lines: 20-22,41-42,64-65,69-79,85-86
    :linenos:
 
 
@@ -54,9 +54,9 @@ we will be using in the script.
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :lines: 28-32
+   :lines: 27-31
    :linenos:
-   :lineno-start: 28
+   :lineno-start: 27
 
 
 Designing the simulation scene
@@ -83,9 +83,9 @@ existing UI elements.
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :lines: 42-45
+   :lines: 41-44
    :linenos:
-   :lineno-start: 42
+   :lineno-start: 41
 
 Next, we add a ground plane and some lights into the scene. These objects are referred to as primitives or prims in
 the USD definition. More concretely, prims are the basic building blocks of a USD scene. They can be considered
@@ -107,9 +107,9 @@ property of a ``"SphereLight"`` prim is set to ``2.5``.
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :lines: 50-63
+   :lines: 49-62
    :linenos:
-   :lineno-start: 50
+   :lineno-start: 49
 
 
 Running the simulation loop
@@ -131,17 +131,17 @@ iteration of the loop.
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :lines: 65-80
+   :lines: 64-79
    :linenos:
-   :lineno-start: 65
+   :lineno-start: 64
 
-Lastly, we call the :meth:`simulation_app.stop()` method to stop the simulation application and close the window.
+Lastly, we call the :meth:`simulation_app.close()` method to stop the simulation application and close the window.
 
 .. literalinclude:: ../../../source/standalone/demo/play_empty.py
    :language: python
-   :lines: 86-87
+   :lines: 85-86
    :linenos:
-   :lineno-start: 86
+   :lineno-start: 85
 
 The Code Execution
 ~~~~~~~~~~~~~~~~~~

docs/source/tutorials_envs/02_wrappers.rst

@@ -22,7 +22,7 @@ For example, here is how you would wrap an environment to enforce that reset is
 
     # create base environment
     cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
-    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, headless=True)
+    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, render=True)
     # wrap environment to enforce that reset is called before step
     env = gym.wrappers.OrderEnforcing(env)
 
@@ -55,7 +55,7 @@ is enabled. This can be done by setting the ``viewport`` argument to ``True`` wh
 
     # create base environment
     cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
-    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, headless=True, viewport=True)
+    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, render=True, viewport=True)
     # wrap environment to enforce that reset is called before step
     env = gym.wrappers.OrderEnforcing(env)
 
@@ -100,7 +100,7 @@ records a video of the ``Isaac-Reach-Franka-v0`` environment for 200 steps, and
     env_cfg.viewer.eye = (1.0, 1.0, 1.0)
     env_cfg.viewer.lookat = (0.0, 0.0, 0.0)
     # create isaac-env instance
-    env = gym.make(task_name, cfg=env_cfg, headless=headless, viewport=True)
+    env = gym.make(task_name, cfg=env_cfg, render=headless, viewport=True)
     # wrap for video recording
     video_kwargs = {
         "video_folder": "videos",
@@ -129,7 +129,7 @@ As an example of how to use the :class:`IsaacEnv` with Stable-Baselines3:
     from omni.isaac.orbit_envs.utils.wrappers.sb3 import Sb3VecEnvWrapper
 
     # create isaac-env instance
-    env = gym.make(task_name, cfg=env_cfg, headless=headless)
+    env = gym.make(task_name, cfg=env_cfg, render=headless)
     # wrap around environment for stable baselines
     env = Sb3VecEnvWrapper(env)
 

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.4.0"
+version = "0.4.1"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.4.1 (2023-06-27)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the :class:`omni.isaac.orbit.app.AppLauncher` class to allow controlled instantiation of
+  the `SimulationApp <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html>`_
+  and extension loading for remote deployment and ROS bridges.
+
+Changed
+^^^^^^^
+
+* Modified all standalone scripts to use the :class:`omni.isaac.orbit.app.AppLauncher` class.
+
+
 0.4.0 (2023-05-27)
 ~~~~~~~~~~~~~~~~~~
 
@@ -163,7 +179,7 @@ Added
 Fixed
 ^^^^^
 
-* Fixed setting of physics material on the ground plane when using :meth:``omni.isaac.orbit.utils.kit.create_ground_plane`` function.
+* Fixed setting of physics material on the ground plane when using :meth:`omni.isaac.orbit.utils.kit.create_ground_plane` function.
 
 
 0.1.0 (2023-01-17)

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

+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Utility to configure the ``omni.isaac.kit.SimulationApp`` based on environment variables.
+
+Based on the desired functionality, this class parses environment variables and input keyword 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
+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.
+
+Available modes
+---------------
+
+The following details the behavior of the class based on the environment variables:
+
+* **Headless mode**: If the environment variable ``REMOTE_DEPLOYMENT>0``, then SimulationApp will be started in headless mode.
+
+* **Livestreaming**: If the environment variable ``REMOTE_DEPLOYMENT={2,3,4}`` , then `livestream`_ is enabled.
+
+  * ``REMOTE_DEPLOYMENT=1`` does not enable livestreaming, though it causes the app to run in headless mode.
+  * ``REMOTE_DEPLOYMENT=2`` enables streaming via the Isaac `Native Livestream`_ extension. This allows users to
+    connect through the Omniverse Streaming Client.
+  * ``REMOTE_DEPLOYMENT=3`` enables streaming via the `Websocket Livestream` extension. This allows users to
+    connect in a browser using the WebSocket protocol.
+  * ``REMOTE_DEPLOYMENT=4`` enables streaming  via the `WebRTC Livestream` extension. This allows users to
+    connect in a browser using the WebRTC protocol.
+
+* **Viewport**: If the environment variable ``VIEWPORT_ENABLED`` is set to non-zero, then the following behavior happens:
+
+  * ``VIEWPORT_ENABLED=1``: Ensures that the VIEWPORT member is set to true, to enable lightweight streaming
+    when the full GUI is not needed (i.e. headless mode).
+
+* **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::
+    Currently, 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.
+
+
+Usage
+-----
+
+To set the environment variables, one can use the following command in the terminal:
+
+.. code:: bash
+
+    export REMOTE_DEPLOYMENT=3
+    export VIEWPORT_ENABLED=1
+    # run the python script
+    ./orbit.sh -p source/standalone/demo/play_quadrupeds.py
+
+Alternatively, one can set the environment variables to the python script directly:
+
+.. code:: bash
+
+    REMOTE_DEPLOYMENT=3 VIEWPORT_ENABLED=1 ./orbit.sh -p source/standalone/demo/play_quadrupeds.py
+
+
+.. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
+.. _livestream: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html
+.. _`Native Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-kit-remote
+.. _`Websocket Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc
+.. _`WebRTC Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-websocket
+
+"""
+
+import os
+from typing import ClassVar
+
+import carb
+from omni.isaac.kit import SimulationApp
+
+__all__ = ["AppLauncher"]
+
+
+class AppLauncher:
+    """A class to create the simulation application based on keyword arguments and environment variables."""
+
+    RENDER: ClassVar[bool]
+    """
+    Whether or not to render the GUI associated with IsaacSim.
+
+    This flag can be used in subsequent execution of the created simulator, i.e.
+
+    .. code:: python
+
+        from omni.isaac.core.simulation_context import SimulationContext
+
+        SimulationContext.instance().step(render=AppLauncher.RENDER)
+
+    Also, can be passed to :class:`IsaacEnv` instance using the :attr:`render` attribute, i.e.
+
+    .. code:: python
+
+        gym.make(render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
+    """
+
+    VIEWPORT: ClassVar[bool]
+    """
+    Whether or not to render the lighter 'viewport' elements even when the application might be
+    executing in headless (no-GUI) mode. This is useful for off-screen rendering to gather images and
+    video more efficiently.
+
+    Also, can be passed to :class:`IsaacEnv` instance using the :attr:`viewport` attribute, i.e.
+
+    .. code:: python
+
+        gym.make(render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
+    """
+
+    def __init__(self, **kwargs):
+        """Parses environments variables and keyword arguments to create a `SimulationApp`_ instance.
+
+        If the keyword argument ``headless`` is set to True, then the SimulationApp will be started in headless mode.
+        It will be given priority over the environment variable setting ``REMOTE_DEPLOYMENT=0``.
+
+        Args:
+            **kwargs: Keyword arguments passed to the :class:`SimulationApp` from Isaac Sim.
+              A detailed description of the possible arguments is available in its `documentation`_.
+
+        Raises:
+            ValueError: If incompatible or undefined values are assigned to relevant environment values,
+              such as ``REMOTE_DEPLOYMENT`` and ``ROS_ENABLED``
+
+        .. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
+        .. _documentation: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html
+        """
+        # Headless is always true for remote deployment
+        remote_deployment = int(os.environ.get("REMOTE_DEPLOYMENT", 0))
+        # resolve headless execution of simulation app
+        headless = kwargs.get("headless", False)
+        kwargs.update({"headless": headless or remote_deployment})
+        # launch simulation app
+        self._app = SimulationApp(kwargs)
+
+        # These have to be loaded after SimulationApp is initialized
+        from omni.isaac.core.utils.extensions import enable_extension
+
+        # Retrieve carb settings for modification
+        carb_settings_iface = carb.settings.get_settings()
+
+        if remote_deployment >= 2:
+            # Set carb settings to allow for livestreaming
+            carb_settings_iface.set_bool("/app/livestream/enabled", True)
+            carb_settings_iface.set_bool("/app/window/drawMouse", True)
+            carb_settings_iface.set_bool("/ngx/enabled", False)
+            carb_settings_iface.set_string("/app/livestream/proto", "ws")
+            carb_settings_iface.set_int("/app/livestream/websocket/framerate_limit", 120)
+            # Note: Only one livestream extension can be enabled at a time
+            if remote_deployment == 2:
+                # Enable Native Livestream extension
+                # Default App: Streaming Client from the Omniverse Launcher
+                enable_extension("omni.kit.livestream.native")
+                enable_extension("omni.services.streaming.manager")
+            elif remote_deployment == 3:
+                # Enable WebSocket Livestream extension
+                # Default URL: http://localhost:8211/streaming/client/
+                enable_extension("omni.services.streamclient.websocket")
+            elif remote_deployment == 4:
+                # Enable WebRTC Livestream extension
+                # Default URL: http://localhost:8211/streaming/webrtc-client/
+                enable_extension("omni.services.streamclient.webrtc")
+            else:
+                raise ValueError(
+                    f"Invalid assignment for env variable `REMOTE_DEPLOYMENT`: {remote_deployment}. Expected 1, 2, 3, 4."
+                )
+
+        # As of IsaacSim 2022.1.1, the ros extension has to be loaded
+        # after the streaming extension or it will cause a segfault
+        ros = int(os.environ.get("ROS_ENABLED", 0))
+        # Note: Only one ROS bridge extension can be enabled at a time
+        if ros > 0:
+            if ros == 1:
+                enable_extension("omni.isaac.ros_bridge")
+            elif ros == 2:
+                enable_extension("omni.isaac.ros2_bridge")
+            else:
+                raise ValueError(f"Invalid assignment for env variable `ROS_ENABLED`: {ros}. Expected 1 or 2.")
+
+        # off-screen rendering
+        viewport = int(os.environ.get("VIEWPORT_ENABLED", 0))
+
+        # update the global flags
+        # -- render GUI
+        if headless and (remote_deployment < 2):
+            self.RENDER = False
+        else:
+            self.RENDER = True
+        # -- render viewport
+        if not viewport:
+            self.VIEWPORT = False
+        else:
+            self.VIEWPORT = True
+
+    @property
+    def app(self) -> SimulationApp:
+        """The launched SimulationApp."""
+        if self._app is not None:
+            return self._app
+        else:
+            raise RuntimeError("The `AppLauncher.app` member cannot be retrieved until the class is initialized.")

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

 Changelog
 ---------
 
+0.3.1 (2023-06-23)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed the argument ``headless`` in :class:`IsaacEnv` class to ``render``, in order to cause less confusion
+  about rendering and headless-ness, i.e. that you can render while headless.
+
+
 0.3.0 (2023-04-14)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env.py

@@ -71,29 +71,31 @@ class IsaacEnv(gym.Env):
     metadata: ClassVar[Dict[str, Any]] = {"render.modes": ["human", "rgb_array"]}
     """Metadata for the environment."""
 
-    def __init__(self, cfg: IsaacEnvCfg, headless: bool = False, viewport: bool = False, **kwargs):
+    def __init__(self, cfg: IsaacEnvCfg, render: bool = False, viewport: bool = False, **kwargs):
         """Initialize the environment.
 
         We currently support only PyTorch backend for the environment. In the future, we plan to extend this to use
         other backends such as Warp.
 
-        If the environment is not headless and viewport is enabled, then the viewport will be rendered in the GUI.
-        This allows us to render the environment even in the headless mode. However, it will significantly slow
-        down the simulation. Thus, it is recommended to set both ``headless`` and ``viewport``
-        to ``False`` when training an environment (unless it uses perception sensors).
+        If render is True, then viewport is True, and the full rendering process will take place with
+        an interactive GUI available via local machine or streaming. If :obj:`render` is False and :obj:`viewport`
+        is True, then only the lighter-weight viewport elements will be rendered in the GUI. However, either of these
+        modes will significantly slow down the simulation compared to a non-rendering configuration. Thus, it
+        is recommended to set both :obj:`render` and :obj:`viewport` to False when training an environment (unless
+        it uses perception sensors).
 
         Args:
             cfg (IsaacEnvCfg): Instance of the environment configuration.
-            headless (bool, optional): Whether to render at every simulation step. Defaults to False.
-            viewport (bool, optional): Whether to enable the GUI viewport. If True, then the viewport
-                will be rendered in the GUI (even in the headless mode). Defaults to False.
+            render (bool, optional): Whether to render at every simulation step. Defaults to False.
+            viewport (bool, optional): Whether to enable the viewport/camera rendering. If True, then the viewport
+                will be rendered even if the GUI is disabled or :obj:`render` is False. Defaults to False.
 
         Raises:
             RuntimeError: No stage is found in the simulation.
         """
         # store inputs to class
         self.cfg = cfg
-        self.enable_render = not headless
+        self.enable_render = render
         self.enable_viewport = viewport or self.enable_render
         # extract commonly used parameters
         self.num_envs = self.cfg.env.num_envs
@@ -469,7 +471,7 @@ class IsaacEnv(gym.Env):
                 enable_extension("omni.kit.viewport.rtx")
                 # extension to make HydraDelegate renderers
                 enable_extension("omni.kit.viewport.pxr")
-            # enable viewport extension if not running in headless mode
+            # enable viewport extension if full rendering is enabled
             enable_extension("omni.kit.viewport.bundle")
             # load extra render extensions if requested
             if self.enable_viewport:

source/standalone/demo/play_arms.py

@@ -19,7 +19,7 @@ From the default configuration file for these robots, zero actions imply a defau
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -28,9 +28,8 @@ parser.add_argument("--robot", type=str, default="franka_panda", help="Name of t
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -121,7 +120,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if ep_step_count % 1000 == 0:
@@ -145,7 +144,7 @@ def main():
         # apply action to the robot
         robot.apply_action(actions)
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         ep_step_count += 1

source/standalone/demo/play_camera.py

@@ -14,7 +14,7 @@ the simulator or OpenGL convention for the camera, we use the robotics or ROS co
 import argparse
 
 # omni-isaac-orbit
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -24,9 +24,8 @@ parser.add_argument("--draw", action="store_true", default=False, help="Draw the
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -159,10 +158,10 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # Step simulation
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # Update camera data
         camera.update(dt=0.0)
 

source/standalone/demo/play_cloner.py

@@ -14,7 +14,7 @@ Reference: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -24,9 +24,8 @@ parser.add_argument("--num_robots", type=int, default=128, help="Number of robot
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -146,7 +145,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if ep_step_count % 100 == 0:
@@ -169,7 +168,7 @@ def main():
         # apply actions
         robot.apply_action(actions)
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         ep_step_count += 1

source/standalone/demo/play_empty.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -18,9 +18,8 @@ parser.add_argument("--headless", action="store_true", default=False, help="Forc
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -74,10 +73,10 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
 
 
 if __name__ == "__main__":

source/standalone/demo/play_ik_control.py

@@ -15,7 +15,7 @@ PhysX. This helps perform parallelized computation of the inverse kinematics.
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -25,13 +25,11 @@ parser.add_argument("--num_envs", type=int, default=128, help="Number of environ
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
-
 import torch
 
 import omni.isaac.core.utils.prims as prim_utils
@@ -180,7 +178,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if count % 150 == 0:
@@ -215,7 +213,7 @@ def main():
         # apply actions
         robot.apply_action(robot_actions)
         # perform step
-        sim.step(render=not args_cli.headless)
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         count += 1

source/standalone/demo/play_quadrupeds.py

@@ -20,7 +20,7 @@ From the default configuration file for these robots, zero actions imply a stand
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -28,9 +28,8 @@ parser.add_argument("--headless", action="store_true", default=False, help="Forc
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -150,7 +149,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if count % 1000 == 0:
@@ -170,7 +169,7 @@ def main():
         robot_c.apply_action(actions)
         robot_a.apply_action(actions)
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         count += 1

source/standalone/demo/play_ridgeback_franka.py

@@ -18,7 +18,7 @@ From the default configuration file for these robots, zero actions imply a defau
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -27,9 +27,8 @@ parser.add_argument("--robot", type=str, default="franka_panda", help="Name of t
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -114,7 +113,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if ep_step_count % 1000 == 0:
@@ -161,7 +160,7 @@ def main():
         # apply action
         robot.apply_action(actions)
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         ep_step_count += 1

source/standalone/demo/play_rmpflow.py

@@ -14,7 +14,7 @@ The RMP-Flow can be configured in different modes. It uses the LULA library for
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -24,9 +24,8 @@ parser.add_argument("--num_envs", type=int, default=5, help="Number of environme
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -180,7 +179,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if count % 350 == 0:
@@ -200,7 +199,7 @@ def main():
             # step simulation
             # FIXME: this is needed for lula to update the buffers!
             # the bug has been reported to the lula team
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
         # set the controller commands
         rmp_controller.set_command(rmp_commands)
         # compute the joint commands
@@ -232,7 +231,7 @@ def main():
         # apply actions
         robot.apply_action(robot_actions)
         # perform step
-        sim.step(not args_cli.headless)
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         count += 1

source/standalone/demo/play_ycb_objects.py

@@ -12,7 +12,7 @@ This script demonstrates how to use the rigid objects class.
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -20,9 +20,8 @@ parser.add_argument("--headless", action="store_true", default=False, help="Forc
 args_cli = parser.parse_args()
 
 # launch omniverse app
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
-
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -130,7 +129,7 @@ def main():
             break
         # If simulation is paused, then skip.
         if not sim.is_playing():
-            sim.step(render=not args_cli.headless)
+            sim.step(render=app_launcher.RENDER)
             continue
         # reset
         if count % 250 == 0:
@@ -153,7 +152,7 @@ def main():
             rigid_object.reset_buffers()
             print(">>>>>>>> Reset!")
         # perform step
-        sim.step()
+        sim.step(render=app_launcher.RENDER)
         # update sim-time
         sim_time += sim_dt
         count += 1

source/standalone/environments/random_agent.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -20,9 +20,9 @@ parser.add_argument("--num_envs", type=int, default=None, help="Number of enviro
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -40,7 +40,7 @@ def main():
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
 
     # reset environment
     env.reset()

source/standalone/environments/state_machine/play_lift.py

@@ -12,7 +12,7 @@ Usage:
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -21,9 +21,9 @@ parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU p
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything else."""
 
@@ -240,7 +240,7 @@ def main():
     # -- robot configuration
     env_cfg.robot.robot_type = "franka"
     # create environment
-    env = gym.make("Isaac-Lift-Franka-v0", cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make("Isaac-Lift-Franka-v0", cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
 
     # create action buffers
     actions = torch.zeros((env.num_envs, env.action_space.shape[0]), device=env.device)

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -22,9 +22,9 @@ parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--sensitivity", type=float, default=1.0, help="Sensitivity factor.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -65,7 +65,7 @@ def main():
     env_cfg.control.inverse_kinematics.command_type = "pose_rel"
     env_cfg.terminations.episode_timeout = False
     # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # check environment name (for reach , we don't allow the gripper)
     if "Reach" in args_cli.task:
         carb.log_warn(

source/standalone/environments/zero_agent.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -20,13 +20,12 @@ parser.add_argument("--num_envs", type=int, default=None, help="Number of enviro
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
-
 import gym
 import torch
 
@@ -40,7 +39,7 @@ def main():
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
 
     # reset environment
     env.reset()

source/standalone/workflows/rl_games/play.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -26,9 +26,9 @@ parser.add_argument(
 )
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -61,7 +61,7 @@ def main():
     clip_actions = agent_cfg["params"]["env"].get("clip_actions", math.inf)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap around environment for rl-games
     env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions)
 

source/standalone/workflows/rl_games/train.py

@@ -11,7 +11,7 @@
 import argparse
 import os
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -32,9 +32,9 @@ if args_cli.headless:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
 else:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.kit"
-# launch the simulator
-simulation_app = SimulationApp(config, experience=app_experience)
-
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless, experience=app_experience)
+simulation_app = app_launcher.app
 """Rest everything follows."""
 
 
@@ -93,7 +93,7 @@ def main():
     clip_actions = agent_cfg["params"]["env"].get("clip_actions", math.inf)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless, viewport=args_cli.video)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap for video recording
     if args_cli.video:
         video_kwargs = {

source/standalone/workflows/robomimic/collect_demonstrations.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -24,8 +24,8 @@ parser.add_argument("--filename", type=str, default="hdf_dataset", help="Basenam
 args_cli = parser.parse_args()
 
 # launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+app_launcher = AppLauncher()
+simulation_app = app_launcher.create_app(headless=args_cli.headless)
 
 """Rest everything follows."""
 
@@ -71,7 +71,7 @@ def main():
     env_cfg.observations.return_dict_obs_in_group = True
 
     # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
 
     # create controller
     if args_cli.device.lower() == "keyboard":

source/standalone/workflows/robomimic/play.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -20,9 +20,9 @@ parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--checkpoint", type=str, default=None, help="Pytorch model checkpoint to load.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -51,7 +51,7 @@ def main():
     env_cfg.observations.return_dict_obs_in_group = True
 
     # create environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
 
     # acquire device
     device = TorchUtils.get_torch_device(try_to_use_cuda=True)

source/standalone/workflows/rsl_rl/play.py

@@ -10,7 +10,7 @@
 
 import argparse
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -21,9 +21,9 @@ parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--checkpoint", type=str, default=None, help="Path to model checkpoint.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -48,7 +48,7 @@ def main():
     agent_cfg = parse_rslrl_cfg(args_cli.task)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap around environment for rsl-rl
     env = RslRlVecEnvWrapper(env)
 

source/standalone/workflows/rsl_rl/train.py

@@ -11,7 +11,7 @@
 import argparse
 import os
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -31,8 +31,10 @@ if args_cli.headless:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
 else:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.kit"
-# launch the simulator
-simulation_app = SimulationApp(config, experience=app_experience)
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless, experience=app_experience)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -80,7 +82,7 @@ def main():
     dump_pickle(os.path.join(log_dir, "params", "agent.pkl"), agent_cfg)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless, viewport=args_cli.video)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap for video recording
     if args_cli.video:
         video_kwargs = {

source/standalone/workflows/sb3/play.py

@@ -11,7 +11,7 @@
 import argparse
 import numpy as np
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -22,9 +22,9 @@ parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--checkpoint", type=str, default=None, help="Path to model checkpoint.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -47,7 +47,7 @@ def main():
     # parse configuration
     env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap around environment for stable baselines
     env = Sb3VecEnvWrapper(env)
     # parse agent configuration

source/standalone/workflows/sb3/train.py

@@ -12,7 +12,7 @@ import argparse
 import numpy as np
 import os
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -33,9 +33,9 @@ if args_cli.headless:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
 else:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.kit"
-# launch the simulator
-simulation_app = SimulationApp(config, experience=app_experience)
-
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless, experience=app_experience)
+simulation_app = app_launcher.app
 """Rest everything follows."""
 
 
@@ -81,7 +81,7 @@ def main():
     n_timesteps = agent_cfg.pop("n_timesteps")
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless, viewport=args_cli.video)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap for video recording
     if args_cli.video:
         video_kwargs = {

source/standalone/workflows/skrl/play.py

@@ -16,7 +16,7 @@ a more user-friendly way.
 import argparse
 import os
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -27,9 +27,9 @@ parser.add_argument("--task", type=str, default=None, help="Name of the task.")
 parser.add_argument("--checkpoint", type=str, default=None, help="Path to model checkpoint.")
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-simulation_app = SimulationApp(config)
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -54,7 +54,7 @@ def main():
     experiment_cfg = parse_skrl_cfg(args_cli.task)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap around environment for skrl
     env = SkrlVecEnvWrapper(env)  # same as: `wrap_env(env, wrapper="isaac-orbit")`
 

source/standalone/workflows/skrl/train.py

@@ -16,7 +16,7 @@ a more user-friendly way.
 import argparse
 import os
 
-from omni.isaac.kit import SimulationApp
+from omni.isaac.orbit.app import AppLauncher
 
 # add argparse arguments
 parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
@@ -37,8 +37,10 @@ if args_cli.headless:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
 else:
     app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.kit"
-# launch the simulator
-simulation_app = SimulationApp(config, experience=app_experience)
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=args_cli.headless, experience=app_experience)
+simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
@@ -92,7 +94,7 @@ def main():
     dump_pickle(os.path.join(log_dir, "params", "agent.pkl"), experiment_cfg)
 
     # create isaac environment
-    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless, viewport=args_cli.video)
+    env = gym.make(args_cli.task, cfg=env_cfg, render=app_launcher.RENDER, viewport=app_launcher.VIEWPORT)
     # wrap for video recording
     if args_cli.video:
         video_kwargs = {