Adds method for simulation CLI arguments to the AppLauncher class (#…

…160)

# Description

Adds `add_app_launcher_args` function to the `AppLauncher` class, which
can be used to add AppLauncher-specific arguments to an existing
ArgumentParser instance.

Because everything we pass is then passed to SimulationApp as a config,
the MR also adds the `check_config()` function. This compares the key
values of a dict and raises a ValueError in the following cases:
* if they have a key reserved for a SimulationApp config parameter but
incorrect value types
* if the value type is correct, it informs the user if a dict item they
passed will be interpreted as a SimulationApp config parameter.
Non-SimulationApp relevant keys are cleaned from the dict before it is
passed to SimulationApp.

Also separated out the giant `AppLauncher.__init__` function into a few
sub-functions to make things more readable.

## 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
- [x] 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

---------

Signed-off-by: AutonomousHansen <[email protected]>
Co-authored-by: Mayank Mittal <[email protected]>

docs/source/refs/license.rst

@@ -1,7 +1,7 @@
 License
-=======
+========
 
-NVIDIA Isaac Sim is available freely under `indivudal license
+NVIDIA Isaac Sim is available freely under `individual license
 <https://www.nvidia.com/en-us/omniverse/download/>`_. For more information
 about its license terms, please check `here <https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement>`_.
 The license files for all its dependencies and included assets are available in its

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

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.9"
+version = "0.9.10"
 
 # Description
 title = "ORBIT framework for Robot Learning"

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

@@ -1,6 +1,24 @@
 Changelog
 ---------
 
+0.9.10 (2023-10-16)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added `livestream` and `ros` CLI args to :class:`omni.isaac.orbit.app.AppLauncher` class.
+* Added a static function :meth:`omni.isaac.orbit.app.AppLauncher.add_app_launcher_args`, which
+  appends the arguments needed for :class:`omni.isaac.orbit.app.AppLauncher` to the argument parser.
+
+Changed
+^^^^^^^
+
+* Within :class:`omni.isaac.orbit.app.AppLauncher`, removed `REMOTE_DEPLOYMENT` env-var processing
+  in the favor of ``HEADLESS`` and ``LIVESTREAM`` env-vars. These have clearer uses and better parity
+  with the CLI args.
+
+
 0.9.9 (2023-10-12)
 ~~~~~~~~~~~~~~~~~~
 
@@ -28,8 +46,6 @@ Fixed
 * Fixed the boundedness of class objects that register callbacks into the simulator.
   These include devices, :class:`AssetBase`, :class:`SensorBase` and :class:`CommandGenerator`.
   The fix ensures that object gets deleted when the user deletes the object.
-
-
 0.9.7 (2023-09-26)
 ~~~~~~~~~~~~~~~~~~
 

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

@@ -0,0 +1,49 @@
+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+import argparse
+import unittest
+from unittest import mock
+
+from omni.isaac.orbit.app import AppLauncher
+
+
+class TestAppLauncher(unittest.TestCase):
+    """Test launching of the simulation app using AppLauncher."""
+
+    @mock.patch("argparse.ArgumentParser.parse_args", return_value=argparse.Namespace(livestream=1))
+    def test_livestream_launch_with_argparser(self, mock_args):
+        """Test launching with argparser arguments."""
+        # create argparser
+        parser = argparse.ArgumentParser()
+        # add app launcher arguments
+        AppLauncher.add_app_launcher_args(parser)
+        # check that argparser has the mandatory arguments
+        for name in AppLauncher._APPLAUNCHER_CONFIG_TYPES:
+            self.assertTrue(parser._option_string_actions[f"--{name}"])
+        # parse args
+        mock_args = parser.parse_args()
+        # everything defaults to None
+        app = AppLauncher(mock_args).app
+
+        # import settings
+        import carb
+
+        # acquire settings interface
+        carb_settings_iface = carb.settings.get_settings()
+        # check settings
+        # -- no-gui mode
+        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
+        # -- livestream
+        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
+
+        # close the app on exit
+        app.close()
+
+
+if __name__ == "__main__":
+    unittest.main()

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

@@ -0,0 +1,40 @@
+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+import os
+import unittest
+
+from omni.isaac.orbit.app import AppLauncher
+
+
+class TestAppLauncher(unittest.TestCase):
+    """Test launching of the simulation app using AppLauncher."""
+
+    def test_livestream_launch_with_env_var(self):
+        """Test launching with no-keyword args but environment variables."""
+        # manually set the settings as well to make sure they are set correctly
+        os.environ["LIVESTREAM"] = "1"
+        # everything defaults to None
+        app = AppLauncher().app
+
+        # import settings
+        import carb
+
+        # acquire settings interface
+        carb_settings_iface = carb.settings.get_settings()
+        # check settings
+        # -- no-gui mode
+        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
+        # -- livestream
+        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
+
+        # close the app on exit
+        app.close()
+
+
+if __name__ == "__main__":
+    unittest.main()

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

@@ -0,0 +1,37 @@
+# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from __future__ import annotations
+
+import unittest
+
+from omni.isaac.orbit.app import AppLauncher
+
+
+class TestAppLauncher(unittest.TestCase):
+    """Test launching of the simulation app using AppLauncher."""
+
+    def test_livestream_launch_with_kwarg(self):
+        """Test launching with headless and livestreaming arguments."""
+        # everything defaults to None
+        app = AppLauncher(headless=True, livestream=1).app
+
+        # import settings
+        import carb
+
+        # acquire settings interface
+        carb_settings_iface = carb.settings.get_settings()
+        # check settings
+        # -- no-gui mode
+        self.assertEqual(carb_settings_iface.get("/app/window/enabled"), False)
+        # -- livestream
+        self.assertEqual(carb_settings_iface.get("/app/livestream/enabled"), True)
+
+        # close the app on exit
+        app.close()
+
+
+if __name__ == "__main__":
+    unittest.main()

source/standalone/demo/play_arms.py

@@ -27,19 +27,18 @@
 parser = argparse.ArgumentParser(
     description="This script demonstrates how to use the physics engine to simulate a single-arm manipulator."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument(
     "--robot", type=str, default="franka_panda", choices=["franka_panda", "ur10"], help="Name of the robot."
 )
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
-"""Rest everything follows."""
-
-
 import torch
 import traceback
 

source/standalone/demo/play_camera.py

@@ -20,13 +20,15 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--gpu", action="store_true", default=False, help="Use GPU device for camera rendering output.")
 parser.add_argument("--draw", action="store_true", default=False, help="Draw the obtained pointcloud on viewport.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_cloner.py

@@ -20,13 +20,15 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to use the cloner API from Isaac Sim.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--robot", type=str, default="franka_panda", help="Name of the robot.")
 parser.add_argument("--num_robots", type=int, default=128, help="Number of robots to spawn.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_empty.py

@@ -16,11 +16,13 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script creates an empty stage in Isaac Sim.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_ik_control.py

@@ -20,13 +20,15 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to use the inverse kinematics controller.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--robot", type=str, default="franka_panda", help="Name of the robot.")
 parser.add_argument("--num_envs", type=int, default=128, help="Number of environments to spawn.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_markers.py

@@ -18,7 +18,9 @@
 parser = argparse.ArgumentParser(
     description="This script demonstrates how to create different types of markers in Orbit."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app

source/standalone/demo/play_quadrupeds.py

@@ -24,11 +24,13 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to simulate a legged robot.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_ridgeback_franka.py

@@ -26,12 +26,14 @@
 parser = argparse.ArgumentParser(
     description="This script demonstrates how to simulate a mobile manipulator with dummy joints."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--robot", type=str, default="franka_panda", help="Name of the robot.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_rmpflow.py

@@ -22,13 +22,15 @@
 parser = argparse.ArgumentParser(
     description="This script demonstrates how to use the RMPFlow controller with the simulator."
 )
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--robot", type=str, default="ur10", help="Name of the robot. Options: franka_panda, ur10.")
 parser.add_argument("--num_envs", type=int, default=5, help="Number of environments to spawn.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_scene.py

@@ -19,12 +19,14 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="This script demonstrates how to use the scene interface.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--num_envs", type=int, default=2, help="Number of environments to spawn.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/demo/play_ycb_objects.py

@@ -18,11 +18,13 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Load YCB objects in Orbit and randomize their poses.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""

source/standalone/environments/random_agent.py

@@ -16,14 +16,16 @@
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Random agent for Isaac Orbit environments.")
-parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
 parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
 parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
 parser.add_argument("--task", type=str, default=None, help="Name of the task.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
 args_cli = parser.parse_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""