Adds custom experience file loading to the AppLauncher (#473)

# Description

This MR automates the configuring of kit app files based on the settings
passed to the app launcher.

The experience file to load when launching the SimulationApp. If a
relative path is provided, it is resolved relative to the ``EXP_PATH``
environment variable. If provided as an empty string, the experience
file is determined based on the headless flag:

* If headless is True, the experience file is set to
``orbit.python.headless.kit``.
* If headless is False, the experience file is set to
``orbit.python.kit``.

Moreover, it adds the app experience file to use when running
multi-camera setup. This is taken from OIGE:
>
https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/docs/examples/training_with_camera.md#working-with-cameras

Fixes #238

## 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
`./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

docs/source/refs/troubleshooting.rst

@@ -9,6 +9,33 @@ Tricks and Troubleshooting
     assistance.
 
 
+Checking the internal logs from the simulator
+---------------------------------------------
+
+When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time,
+it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the
+simulator. Depending on your system, the log file can be found in the locations listed
+`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations>`_.
+
+To obtain the exact location of the log file, you need to check the first few lines of the terminal output when
+you run the standalone script. The log file location is printed at the start of the terminal output. For example:
+
+.. code:: bash
+
+    [INFO] Using python from: /home/${USER}/git/orbit/_isaac_sim/python.sh
+    ...
+    Passing the following args to the base kit application:  []
+    Loading user config located at: '.../data/Kit/Isaac-Sim/2023.1/user.config.json'
+    [Info] [carb] Logging to file: '.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log'
+
+
+In the above example, the log file is located at ``.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log``,
+``...`` is the path to the user's log directory. The log file is named ``kit_20240328_183346.log``
+
+You can open this file to check the internal logs from the simulator. Also when reporting issues, please include
+this log file to help us debug the issue.
+
+
 Using CPU Scaling Governor for performance
 ------------------------------------------
 

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

@@ -76,7 +76,7 @@ custom arguments and those from :class:`~app.AppLauncher`.
    [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}]
-                        [--offscreen_render]
+                        [--offscreen_render] [--verbose] [--experience EXPERIENCE]
 
    Tutorial on running IsaacSim via the AppLauncher.
 
@@ -91,6 +91,13 @@ custom arguments and those from :class:`~app.AppLauncher`.
    --livestream {0,1,2,3}
                          Force enable livestreaming. Mapping corresponds to that for the "LIVESTREAM" environment variable.
    --offscreen_render    Enable offscreen rendering when running without a GUI.
+   --verbose             Enable verbose terminal logging from the SimulationApp.
+   --experience EXPERIENCE
+                         The experience file to load when launching the SimulationApp.
+
+                         * If an empty string is provided, the experience file is determined based on the headless flag.
+                         * If a relative path is provided, it is resolved relative to the `apps` folder in Isaac Sim and
+                           Orbit (in that order).
 
 This readout details the ``--size``, ``--height``, and ``--width`` arguments defined in the script directly,
 as well as the :class:`~app.AppLauncher` arguments.

orbit.sh

@@ -132,6 +132,7 @@ setup_conda_env() {
         'source '${isaacsim_setup_conda_env_script}'' \
         '' \
         '# for orbit' \
+        'export ORBIT_PATH='${ORBIT_PATH}'' \
         'alias orbit='${ORBIT_PATH}'/orbit.sh' \
         '' \
         '# show icon if not runninng headless' \
@@ -144,6 +145,7 @@ setup_conda_env() {
     printf '%s\n' '#!/usr/bin/env bash' '' \
         '# for orbit' \
         'unalias orbit &>/dev/null' \
+        'unalias ORBIT_PATH &>/dev/null' \
         '' \
         '# for isaac-sim' \
         'unset CARB_APP_PATH' \

source/apps/orbit.python.headless.kit

+##
+# Adapted from: _isaac_sim/apps/omni.isaac.sim.python.gym.headless.kit
+##
+
+[package]
+title = "Isaac Sim Python - Minimal (headless)"
+description = "A minimal app for running standalone scripts headlessly."
+version = "2023.1.1"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "orbit", "python", "headless"]
+
+#################
+# Basic Kit App #
+#################
+[settings]
+# Note: This path was adapted to be respective to the kit-exe file location
+app.versionFile = "${exe-path}/../VERSION"
+app.folder = "${exe-path}/../"
+app.name = "Isaac-Sim"
+app.version = "2023.1.1"
+
+# set the default ros bridge to disable on startup
+isaac.startup.ros_bridge_extension = ""
+
+##################################
+# Omniverse related dependencies #
+##################################
+[dependencies]
+"omni.kit.window.title" = {}
+"omni.kit.window.console" = {}
+"omni.physx" = {}
+"omni.physx.tensors" = {}
+"omni.physx.fabric" = {}
+"omni.warp.core" = {}
+"usdrt.scenegraph" = {}
+
+# "omni.kit.mainwindow" = {}
+# "omni.kit.telemetry" = {}
+
+
+[settings]
+# Basic Kit App
+app.content.emptyStageOnStart = false
+
+# deprecate support for old kit.ui.menu
+app.menu.legacy_mode = false
+# use omni.ui.Menu for the MenuBar
+app.menu.compatibility_mode = false
+# Setting the port for the embedded http server
+exts."omni.services.transport.server.http".port = 8211
+
+# default viewport is fill
+app.runLoops.rendering_0.fillResolution = false
+
+# Fix PlayButtonGroup error
+exts."omni.kit.widget.toolbar".PlayButton.enabled = false
+
+[settings.app.settings]
+persistent = true
+dev_build = false
+fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
+
+[settings.app.window]
+title = "Isaac Sim Python"
+hideUi = false
+_iconSize = 256
+# Note: This path was adapted to be respective to the kit folder location
+iconPath = "${exe-path}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico"
+
+# Fonts
+[setting.app.font]
+file = "${fonts}/OpenSans-SemiBold.ttf"
+size = 16
+
+[settings.exts.'omni.kit.window.extensions']
+# List extensions here we want to show as featured when extension manager is opened
+featuredExts = []
+
+[settings.app.python]
+# These disable the kit app from also printing out python output, which gets confusing
+interceptSysStdOutput = false
+logSysStdOutput = false
+
+[settings]
+# MGPU is always on, you can turn it from the settings, and force this off to save even more resource if you
+# only want to use a single GPU on your MGPU system
+# False for Isaac Sim
+renderer.multiGpu.enabled = true
+renderer.multiGpu.autoEnable = true
+'rtx-transient'.resourcemanager.enableTextureStreaming = true
+app.asyncRendering = false
+app.asyncRenderingLowLatency = false
+app.hydraEngine.waitIdle = false
+# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
+omni.replicator.asyncRendering = false
+
+# Enable Iray and pxr by setting this to "rtx,iray,pxr"
+renderer.enabled = "rtx"
+
+# Disable the simulation output window popup
+physics.autoPopupSimulationOutputWindow=false
+
+# Disable IOMMU Enabled pop-up message on warmup (OM-100381)
+persistent.renderer.startupMessageDisplayed = true
+
+# Hang Detector
+################################
+# app.hangDetector.enabled = false
+# app.hangDetector.timeout = 120
+
+
+#######################
+# Extensions Settings #
+#######################
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+  { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+  { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
+  { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
+]
+
+[settings.app.extensions]
+skipPublishVerification = false
+registryEnabled = true
+
+[settings.exts."omni.kit.window.modifier.titlebar"]
+titleFormatString = "  Isaac Sim  {version:${exe-path}/../SHORT_VERSION,font_color=0x909090,font_size=16} {separator} {file, board=true}"
+showFileFullPath = true
+icon.file = "${exe-path}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico"
+icon.size = 256
+defaultFont.name = "Arial"
+defaultFont.size = 16
+defaultFont.color = 0xD0D0D0
+separator.color = 0x00B976
+separator.width = 1
+windowBorder.color = 0x0F0F0F
+windowBorder.width = 2
+colors.caption = 0x0F0F0F
+colors.client = 0x0F0F0F
+respondOnMouseUp = true
+changeWindowRegion = true
+
+[settings.crashreporter.data]
+experience = "Isaac Sim Python Minimal"
+
+######################
+# Isaac Sim Settings #
+######################
+[settings.app.renderer]
+skipWhileMinimized = false
+sleepMsOnFocus = 0
+sleepMsOutOfFocus = 0
+resolution.width=1280
+resolution.height=720
+
+# default camera position in meters
+[settings.app.viewport]
+defaultCamPos.x = 5
+defaultCamPos.y = 5
+defaultCamPos.z = 5
+
+[settings.rtx]
+raytracing.fractionalCutoutOpacity = false
+hydra.enableSemanticSchema = true
+# descriptorSets=60000
+# reservedDescriptors=500000
+# sceneDb.maxInstances=1000000
+# Enable this for static scenes, improves visual quality
+# directLighting.sampledLighting.enabled = true
+
+[settings.persistent]
+app.file.recentFiles = []
+app.stage.upAxis = "Z"
+app.stage.movePrimInPlace = false
+app.stage.instanceableOnCreatingReference = false
+app.stage.materialStrength = "weakerThanDescendants"
+
+app.transform.gizmoUseSRT = true
+app.viewport.grid.scale = 1.0
+app.viewport.pickingMode = "kind:model.ALL"
+app.viewport.camMoveVelocity = 0.05 # 5 m/s
+app.viewport.gizmo.scale = 0.01 # scaled to meters
+app.viewport.previewOnPeek = false
+app.viewport.snapToSurface = false
+app.viewport.displayOptions = 31951 # Disable Frame Rate and Resolution by default
+app.window.uiStyle = "NvidiaDark"
+app.primCreation.DefaultXformOpType = "Scale, Orient, Translate"
+app.primCreation.DefaultXformOpOrder="xformOp:translate, xformOp:orient, xformOp:scale"
+app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0]
+simulation.minFrameRate = 15
+simulation.defaultMetersPerUnit = 1.0
+omnigraph.updateToUsd = false
+omnigraph.useSchemaPrims = true
+omnigraph.disablePrimNodes = true
+physics.updateToUsd = false
+physics.updateVelocitiesToUsd = false
+physics.useFastCache = false
+physics.visualizationDisplayJoints = false
+omni.replicator.captureOnPlay = true
+omnihydra.useSceneGraphInstancing = true
+
+renderer.startupMessageDisplayed = true # hides the IOMMU popup window
+
+# Make Detail panel invisible by default
+app.omniverse.content_browser.options_menu.show_details = false
+app.omniverse.filepicker.options_menu.show_details = false
+
+[settings.physics]
+updateToUsd = false
+updateVelocitiesToUsd = false
+updateForceSensorsToUsd = false
+outputVelocitiesLocalSpace = false
+
+# Register extension folder from this repo in kit
+[settings.app.exts]
+folders = [
+    "${exe-path}/exts",  # kit extensions
+    "${exe-path}/extscore",  # kit core extensions
+    "${exe-path}/../exts",  # isaac extensions
+    "${exe-path}/../extscache",  # isaac cache extensions
+    "${exe-path}/../extsPhysics",  # isaac physics extensions,
+    "${app}", # needed to find other app files
+    "${app}/../extensions", # needed to find extensions in orbit
+]
+
+[settings.ngx]
+enabled=true # Enable this for DLSS
+
+########################
+# Isaac Sim Extensions #
+########################
+[dependencies]
+"omni.isaac.core" = {}
+"omni.isaac.core_archive" = {}
+"omni.pip.compute" = {}
+"omni.pip.cloud" = {}
+"omni.isaac.cloner" = {}
+"omni.isaac.kit" = {}
+"omni.isaac.ml_archive" = {}
+"omni.kit.loop-isaac" = {}
+"omni.isaac.cloner" = {}

source/apps/orbit.python.headless.multicam.kit

+##
+# Adapted from: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/apps/omni.isaac.sim.python.gym.camera.kit
+#
+# This app file designed specifically towards vision-based RL tasks. It provides necessary settings to enable
+# multiple cameras to be rendered each frame. Additional settings are also applied to increase performance when
+# rendering cameras across multiple environments.
+##
+
+[package]
+title = "Isaac Sim Python - Minimal (efficient rendering)"
+description = "A minimal app for running standalone scripts with efficient camera rendering settings."
+version = "2023.1.1"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "orbit", "python", "camera", "minimal"]
+
+[dependencies]
+# Orbit minimal app
+"orbit.python.headless" = {}
+
+# PhysX
+"omni.kit.property.physx" = {}
+"omni.kit.property.bundle" = {}
+
+# Rendering
+"omni.kit.material.library" = {}
+"omni.kit.viewport.rtx" = {}
+"omni.kit.viewport.bundle" = {}
+
+# Windows
+"omni.kit.window.file" = {}
+"omni.kit.window.status_bar" = {}
+"omni.kit.window.title" = {}
+"omni.kit.window.extensions" = {}
+"omni.kit.window.toolbar" = {}
+"omni.kit.window.stage" = {}
+
+# Menus
+"omni.kit.menu.utils" = {}
+"omni.kit.menu.file" = {}
+"omni.kit.menu.edit" = {}
+"omni.kit.menu.create" = {}
+"omni.kit.menu.common" = {}
+"omni.kit.menu.stage" = {}
+
+[settings]
+
+# Basic Kit App
+################################
+# Note: This path was adapted to be respective to the kit-exe file location
+app.versionFile = "${exe-path}/../VERSION"
+app.folder = "${exe-path}/../"
+app.name = "Isaac-Sim"
+app.version = "2023.1.1"
+
+# set the default ros bridge to disable on startup
+isaac.startup.ros_bridge_extension = ""
+
+# Increase available descriptors to support more simultaneous cameras
+rtx.descriptorSets=30000
+
+# Enable new denoiser to reduce motion blur artifacts
+rtx.newDenoiser.enabled=true
+
+# Disable present thread to improve performance
+exts."omni.renderer.core".present.enabled=false
+
+# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
+rtx.raytracing.cached.enabled = false
+rtx.raytracing.lightcache.spatialCache.enabled = false
+rtx.ambientOcclusion.enabled = false
+rtx-transient.dlssg.enabled = false
+
+rtx.sceneDb.ambientLightIntensity = 1.0
+rtx.directLighting.sampledLighting.enabled = true
+
+# Force synchronous rendering to improve training results
+omni.replicator.asyncRendering = false
+
+app.renderer.waitIdle=true
+app.hydraEngine.waitIdle=true
+
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+    { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
+    { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
+]
+
+[settings.app.renderer]
+skipWhileMinimized = false
+sleepMsOnFocus = 0
+sleepMsOutOfFocus = 0
+
+# Register extension folder from this repo in kit
+[settings.app.exts]
+folders = [
+    "${exe-path}/exts",  # kit extensions
+    "${exe-path}/extscore",  # kit core extensions
+    "${exe-path}/../exts",  # isaac extensions
+    "${exe-path}/../extscache",  # isaac cache extensions
+    "${exe-path}/../extsPhysics",  # isaac physics extensions,
+    "${app}", # needed to find other app files
+    "${app}/../extensions", # needed to find extensions in orbit
+]
+
+# Isaac Sim Extensions
+###############################
+[dependencies]
+"omni.isaac.app.setup" = { order = 1000 } # we are running that at the end

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

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.15.5"
+version = "0.15.6"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

 Changelog
 ---------
 
+0.15.6 (2024-03-28)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Extended the :class:`omni.isaac.orbit.app.AppLauncher` class to support the loading of experience files
+  from the command line. This allows users to load a specific experience file when running the application
+  (such as for multi-camera rendering or headless mode).
+
+Changed
+^^^^^^^
+
+* Changed default loading of experience files in the :class:`omni.isaac.orbit.app.AppLauncher` class from the ones
+  provided by Isaac Sim to the ones provided in Orbit's ``source/apps`` directory.
+
+
 0.15.5 (2024-03-23)
 ~~~~~~~~~~~~~~~~~~~
 

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

@@ -102,6 +102,7 @@ class AppLauncher:
         self._headless: bool  # 0: GUI, 1: Headless
         self._livestream: Literal[0, 1, 2, 3]  # 0: Disabled, 1: Native, 2: Websocket, 3: WebRTC
         self._offscreen_render: bool  # 0: Disabled, 1: Enabled
+        self._sim_experience_file: str  # Experience file to load
 
         # Integrate env-vars and input keyword args into simulation app config
         self._config_resolution(launcher_args)
@@ -157,6 +158,13 @@ class AppLauncher:
         * ``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.
+        * ``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 Orbit (in that order).
+
+          If provided as an empty string, the experience file is determined based on the headless flag:
+
+            * If headless is True, the experience file is set to ``orbit.python.headless.kit``.
+            * If headless is False, the experience file is set to ``orbit.python.kit``.
 
         Args:
             parser: An argument parser instance to be extended with the AppLauncher specific options.
@@ -184,7 +192,7 @@ class AppLauncher:
         config = vars(known)
         if len(config) == 0:
             print(
-                "[Warn][AppLauncher]: There are no arguments attached to the ArgumentParser object."
+                "[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object."
                 " If you have your own arguments, please load your own arguments before calling the"
                 " `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity"
                 " of the arguments and perform checks for argument names."
@@ -193,7 +201,10 @@ class AppLauncher:
             AppLauncher._check_argparser_config_params(config)
 
         # Add custom arguments to the parser
-        arg_group = parser.add_argument_group("app_launcher arguments")
+        arg_group = parser.add_argument_group(
+            "app_launcher arguments",
+            description="Arguments for the AppLauncher. For more details, please check the documentation.",
+        )
         arg_group.add_argument(
             "--headless",
             action="store_true",
@@ -213,6 +224,21 @@ class AppLauncher:
             default=AppLauncher._APPLAUNCHER_CFG_INFO["offscreen_render"][1],
             help="Enable offscreen rendering when running without a GUI.",
         )
+        arg_group.add_argument(
+            "--verbose",  # Note: This is read by SimulationApp through sys.argv
+            action="store_true",
+            help="Enable verbose terminal output from the SimulationApp.",
+        )
+        arg_group.add_argument(
+            "--experience",
+            type=str,
+            default="",
+            help=(
+                "The experience file to load when launching the SimulationApp. If an empty string is provided,"
+                " the experience file is determined based on the headless flag. If a relative path is provided,"
+                " it is resolved relative to the `apps` folder in Isaac Sim and Orbit (in that order)."
+            ),
+        )
 
         # Corresponding to the beginning of the function,
         # if we have removed -h/--help handling, we add it back.
@@ -228,6 +254,7 @@ class AppLauncher:
         "headless": ([bool], False),
         "livestream": ([int], -1),
         "offscreen_render": ([bool], False),
+        "experience": ([str], ""),
     }
     """A dictionary of arguments added manually by the :meth:`AppLauncher.add_app_launcher_args` method.
 
@@ -240,7 +267,7 @@ class AppLauncher:
     # TODO: Find some internally managed NVIDIA list of these types.
     # SimulationApp.DEFAULT_LAUNCHER_CONFIG almost works, except that
     # it is ambiguous where the default types are None
-    _SIMULATIONAPP_CFG_TYPES: dict[str, list[type]] = {
+    _SIM_APP_CFG_TYPES: dict[str, list[type]] = {
         "headless": [bool],
         "active_gpu": [int, type(None)],
         "physics_gpu": [int],
@@ -289,7 +316,7 @@ class AppLauncher:
             ValueError: If a key is an already existing field in the configuration parameters but
                 should be added by calling the :meth:`AppLauncher.add_app_launcher_args.
             ValueError: If keys corresponding to those used to initialize SimulationApp
-                (as found in :attr:`_SIMULATIONAPP_CFG_TYPES`) are of the wrong value type.
+                (as found in :attr:`_SIM_APP_CFG_TYPES`) are of the wrong value type.
         """
         # check that no config key conflicts with AppLauncher config names
         applauncher_keys = set(AppLauncher._APPLAUNCHER_CFG_INFO.keys())
@@ -301,11 +328,11 @@ class AppLauncher:
                     " argument or rename it to a non-conflicting name."
                 )
         # check that type of the passed keys are valid
-        simulationapp_keys = set(AppLauncher._SIMULATIONAPP_CFG_TYPES.keys())
+        simulationapp_keys = set(AppLauncher._SIM_APP_CFG_TYPES.keys())
         for key, value in config.items():
             if key in simulationapp_keys:
                 given_type = type(value)
-                expected_types = AppLauncher._SIMULATIONAPP_CFG_TYPES[key]
+                expected_types = AppLauncher._SIM_APP_CFG_TYPES[key]
                 if type(value) not in set(expected_types):
                     raise ValueError(
                         f"Invalid value type for the argument '{key}': {given_type}. Expected one of {expected_types},"
@@ -409,13 +436,42 @@ class AppLauncher:
 
         # Check if input keywords contain an 'experience' file setting
         # Note: since experience is taken as a separate argument by Simulation App, we store it separately
-        self._simulationapp_experience = launcher_args.pop("experience", "")
-        print(f"[INFO][AppLauncher]: Loading experience file: {self._simulationapp_experience} .")
+        self._sim_experience_file = launcher_args.pop("experience", "")
+
+        # If nothing is provided resolve the experience file based on the headless flag
+        kit_app_exp_path = os.environ["EXP_PATH"]
+        orbit_app_exp_path = os.path.join(os.environ["ORBIT_PATH"], "source", "apps")
+        if self._sim_experience_file == "":
+            # check if the headless flag is set
+            if self._headless:
+                self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.headless.kit")
+            else:
+                self._sim_experience_file = os.path.join(orbit_app_exp_path, "orbit.python.kit")
+        elif not os.path.isabs(self._sim_experience_file):
+            option_1_app_exp_path = os.path.join(kit_app_exp_path, self._sim_experience_file)
+            option_2_app_exp_path = os.path.join(orbit_app_exp_path, self._sim_experience_file)
+            if os.path.exists(option_1_app_exp_path):
+                self._sim_experience_file = option_1_app_exp_path
+            elif os.path.exists(option_2_app_exp_path):
+                self._sim_experience_file = option_2_app_exp_path
+            else:
+                raise FileNotFoundError(
+                    f"Invalid value for input keyword argument `experience`: {self._sim_experience_file}."
+                    "\n No such file exists in either the Kit or Orbit experience paths. Checked paths:"
+                    f"\n\t [1]: {option_1_app_exp_path}"
+                    f"\n\t [2]: {option_2_app_exp_path}"
+                )
+        elif not os.path.exists(self._sim_experience_file):
+            raise FileNotFoundError(
+                f"Invalid value for input keyword argument `experience`: {self._sim_experience_file}."
+                " The file does not exist."
+            )
+
+        print(f"[INFO][AppLauncher]: Loading experience file: {self._sim_experience_file}")
         # Remove all values from input keyword args which are not meant for SimulationApp
         # Assign all the passed settings to a dictionary for the simulation app
-        self._simulationapp_config = {
-            key: launcher_args[key]
-            for key in set(AppLauncher._SIMULATIONAPP_CFG_TYPES.keys()) & set(launcher_args.keys())
+        self._sim_app_config = {
+            key: launcher_args[key] for key in set(AppLauncher._SIM_APP_CFG_TYPES.keys()) & set(launcher_args.keys())
         }
 
     def _create_app(self):
@@ -432,7 +488,7 @@ class AppLauncher:
             hacked_modules[key] = sys.modules[key]
             del sys.modules[key]
         # launch simulation app
-        self._app = SimulationApp(self._simulationapp_config, experience=self._simulationapp_experience)
+        self._app = SimulationApp(self._sim_app_config, experience=self._sim_experience_file)
         # add orbit modules back to sys.modules
         for key, value in hacked_modules.items():
             sys.modules[key] = value
@@ -505,7 +561,8 @@ class AppLauncher:
         #   the module for orbit.envs.ui work
         enable_extension("omni.isaac.ui")
         # enable animation recording extension
-        enable_extension("omni.kit.stagerecorder.core")
+        if not self._headless or self._livestream >= 1:
+            enable_extension("omni.kit.stagerecorder.core")
 
         # 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

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

@@ -8,7 +8,6 @@ from __future__ import annotations
 """Launch Isaac Sim Simulator first."""
 
 import argparse
-import os
 
 parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
 parser.add_argument(
@@ -20,12 +19,12 @@ 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(experience=app_experience)
+app_launcher = AppLauncher(headless=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import os
 import trimesh
 
 import omni.isaac.orbit.terrains.height_field as hf_gen

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

@@ -8,7 +8,6 @@ from __future__ import annotations
 """Launch Isaac Sim Simulator first."""
 
 import argparse
-import os
 
 parser = argparse.ArgumentParser(description="Generate terrains using trimesh")
 parser.add_argument(
@@ -20,13 +19,13 @@ 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(headless=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
 import argparse
+import os
 import trimesh
 
 import omni.isaac.orbit.terrains.trimesh as mesh_gen

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

@@ -7,18 +7,16 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 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(headless=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
+import os
 import shutil
 
 from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG

source/extensions/omni.isaac.orbit_tasks/test/test_data_collector.py

@@ -7,13 +7,10 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-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(headless=True)
 simulation_app = app_launcher.app
 
 

source/extensions/omni.isaac.orbit_tasks/test/test_environments.py

@@ -7,13 +7,10 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-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(headless=True)
 simulation_app = app_launcher.app
 
 

source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py

@@ -7,13 +7,10 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
-app_launcher = AppLauncher(headless=True, offscreen_render=True, experience=app_experience)
+app_launcher = AppLauncher(headless=True, offscreen_render=True)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rl_games_wrapper.py

@@ -7,13 +7,10 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-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(headless=True)
 simulation_app = app_launcher.app
 
 

source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py

@@ -7,13 +7,10 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
-
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-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(headless=True)
 simulation_app = app_launcher.app
 
 

source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_sb3_wrapper.py

@@ -7,13 +7,11 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-import os
 
 from omni.isaac.orbit.app import AppLauncher, run_tests
 
 # launch the simulator
-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(headless=True)
 simulation_app = app_launcher.app
 
 

source/standalone/workflows/rl_games/play.py

@@ -9,7 +9,6 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-
 import argparse
 
 from omni.isaac.orbit.app import AppLauncher

source/standalone/workflows/rl_games/train.py

@@ -9,9 +9,7 @@ from __future__ import annotations
 
 """Launch Isaac Sim Simulator first."""
 
-
 import argparse
-import os
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -32,14 +30,8 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
-# launch the simulator
-# load cheaper kit config in headless
-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 omniverse app
-app_launcher = AppLauncher(args_cli, experience=app_experience)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/workflows/rsl_rl/train.py

@@ -11,7 +11,6 @@ from __future__ import annotations
 
 
 import argparse
-import os
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -37,14 +36,8 @@ cli_args.add_rsl_rl_args(parser)
 AppLauncher.add_app_launcher_args(parser)
 args_cli = parser.parse_args()
 
-# load cheaper kit config in headless
-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 omniverse app
-app_launcher = AppLauncher(args_cli, experience=app_experience)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/workflows/sb3/play.py

@@ -11,7 +11,6 @@ from __future__ import annotations
 
 
 import argparse
-import numpy as np
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -41,6 +40,7 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 import gymnasium as gym
+import numpy as np
 import os
 import torch
 

source/standalone/workflows/sb3/train.py

@@ -16,8 +16,6 @@ from __future__ import annotations
 
 
 import argparse
-import numpy as np
-import os
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -38,20 +36,14 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
-# launch the simulator
-config = {"headless": args_cli.headless}
-# load cheaper kit config in headless
-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 omniverse app
-app_launcher = AppLauncher(args_cli, experience=app_experience)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
 import gymnasium as gym
+import numpy as np
 import os
 from datetime import datetime
 

source/standalone/workflows/skrl/play.py

@@ -16,7 +16,6 @@ from __future__ import annotations
 
 
 import argparse
-import os
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -41,6 +40,7 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 import gymnasium as gym
+import os
 import torch
 
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG

source/standalone/workflows/skrl/train.py

@@ -16,7 +16,6 @@ from __future__ import annotations
 
 
 import argparse
-import os
 
 from omni.isaac.orbit.app import AppLauncher
 
@@ -37,19 +36,14 @@ AppLauncher.add_app_launcher_args(parser)
 # parse the arguments
 args_cli = parser.parse_args()
 
-# launch the simulator
-# load cheaper kit config in headless
-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 omniverse app
-app_launcher = AppLauncher(args_cli, experience=app_experience)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
 import gymnasium as gym
+import os
 from datetime import datetime
 
 from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG

tools/run_all_tests.py

@@ -59,8 +59,8 @@ def parse_args() -> argparse.Namespace:
     )
 
     # configure default logging path based on time stamp
-    log_file_name = "test_results_" + datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + ".log"
-    default_log_path = os.path.join(ORBIT_PATH, "logs", log_file_name)
+    log_file_name = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + ".log"
+    default_log_path = os.path.join(ORBIT_PATH, "logs", "test_results", log_file_name)
 
     parser.add_argument(
         "--log_path", type=str, default=default_log_path, help="Path to the log file to store the results in."