[Core] Start simulation runtimes through backend launchers named by the config (1/2)

.github/actions/multi-gpu/mgpu_shard_select.py

@@ -13,7 +13,7 @@
 Signal: ``ISAACLAB_TEST_DEVICES`` -- the runtime device mask. This is the SAME
 env var ``isaaclab.test.utils.devices.test_devices()`` reads to decide a test's
 device parametrization, so this plugin's keep/drop decision agrees with what was
-parametrized. Kit-backed tests derive their AppLauncher device from the same mask.
+parametrized. Kit-backed tests derive their Kit launch device from the same mask.
 The plugin reads the mask string directly -- no isaaclab import -- matching the
 lib-free convention of every other conftest in the repo. The only shared knowledge
 is the mask grammar below, mirrored from ``devices.py`` (position 0 = cpu,

.github/actions/run-tests/run_tests.sh

@@ -282,7 +282,7 @@ run_tests() {
 
   if [ -n "$ovrtx_shader_cache_host_dir" ]; then
     # Canonical OVRTX shader cache mount layout; other boundaries refer here.
-    #   host kit/     -> /isaac-sim/kit/cache/nv_shadercache  (Kit / AppLauncher rendering)
+    #   host kit/     -> /isaac-sim/kit/cache/nv_shadercache  (Kit rendering)
     #   host kitless/ -> OVRTX_SHADER_CACHE_PATH              (standalone OVRTXRenderer)
     #
     # kit/ is a nested bind mount overlaying the nv_shadercache directory that the

.github/workflows/test-multi-gpu-pytest.yaml

@@ -56,7 +56,8 @@ jobs:
           triggered-jobs-pr: multi-GPU sharded unit tests
           patterns: |
             ^source/isaaclab/isaaclab/test/utils/ :: Device-scope test helpers
-            ^source/isaaclab/isaaclab/app/app_launcher\.py$ :: Device selection at launch
+            ^source/isaaclab_physx/isaaclab_physx/app/kit_launcher\.py$ :: Device selection at launch
+            ^source/isaaclab/isaaclab/app/sim_launcher\.py$ :: Device selection at launch
             ^source/.+/test/.+/test_.*\.py$ :: Device-parametrized test files
             ^\.github/workflows/test-multi-gpu-pytest\.yaml$ :: This workflow
             ^\.github/actions/(run-tests|run-package-tests|ecr-build-push-pull|multi-gpu|detect-changes)/ :: Shared actions

.github/workflows/test-multi-gpu.yaml

@@ -17,8 +17,8 @@ name: Multi-GPU Training Tests
 on:
   pull_request:
     paths:
-      - "source/isaaclab/isaaclab/app/app_launcher.py"
-      - "source/isaaclab_tasks/isaaclab_tasks/utils/sim_launcher.py"
+      - "source/isaaclab_physx/isaaclab_physx/app/kit_launcher.py"
+      - "source/isaaclab/isaaclab/app/sim_launcher.py"
       - "scripts/reinforcement_learning/train.py"
       - "source/isaaclab_rl/isaaclab_rl/entrypoints/**"
       - ".github/workflows/test-multi-gpu.yaml"

apps/isaaclab.python.headless.kit

@@ -70,7 +70,7 @@ logSysStdOutput = false
 
 [settings]
 # Use one renderer GPU by default. Applications that need single-process multi-GPU rendering can override these
-# settings through AppLauncher's ``kit_args``.
+# settings through the Kit launcher's ``kit_args``.
 renderer.multiGpu.enabled = false
 renderer.multiGpu.autoEnable = false
 renderer.multiGpu.maxGpuCount = 1

apps/isaaclab.python.kit

@@ -214,7 +214,7 @@ app.asyncRendering = false
 app.asyncRenderingLowLatency = false
 
 # Use one renderer GPU by default. Applications that need single-process multi-GPU rendering can override these
-# settings through AppLauncher's ``kit_args``.
+# settings through the Kit launcher's ``kit_args``.
 renderer.multiGpu.enabled = false
 renderer.multiGpu.autoEnable = false
 renderer.multiGpu.maxGpuCount = 1

docs/source/api/index.rst

@@ -128,6 +128,7 @@ The following modules are available in the ``isaaclab_physx`` extension:
 .. autosummary::
    :toctree: lab_physx
 
+   app
    assets
    cloner
    physics
@@ -173,6 +174,7 @@ The following modules are available in the ``isaaclab_ov`` extension:
 .. autosummary::
    :toctree: lab_ov
 
+   app
    assets
    cloner
    physics

docs/source/api/lab/isaaclab.app.rst

@@ -10,168 +10,32 @@
       AppLauncher
       LoadingScreen
       Scan
+      SimulationLauncher
 
    .. rubric:: Functions
 
    .. autosummary::
 
+      add_launcher_args
       launch_simulation
       make_physics_cfg
       report_activity
       scan
 
 
-Environment variables
----------------------
-
-The following details the behavior of the class based on the environment variables:
-
-* **Headless mode**: If the environment variable ``HEADLESS=1``, then SimulationApp will be started in headless mode.
-  If ``LIVESTREAM={1,2}``, then it will supersede the ``HEADLESS`` envvar and force headlessness.
-
-  * ``HEADLESS=1`` causes the app to run in headless mode.
-
-* **Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , then `livestream`_ is enabled. Any
-  of the livestream modes being true forces the app to run in headless mode.
-
-  * ``LIVESTREAM=1`` enables streaming via the `WebRTC Livestream`_ extension over **public networks**. This allows users to
-    connect through the WebRTC Client using the WebRTC protocol.
-  * ``LIVESTREAM=2`` enables streaming via the `WebRTC Livestream`_ extension over **private and local networks**. This allows users to
-    connect through the WebRTC Client using the WebRTC protocol.
-
-  .. note::
-
-    Each Isaac Sim instance can only connect to one streaming client.
-    Connecting to an Isaac Sim instance that is currently serving a streaming client
-    results in an error for the second user.
-
-* **Public IP Address**: When using the environment variable ``LIVESTREAM={1,2}``, set the ``PUBLIC_IP`` envvar to define the public IP address endpoint for livestreaming remotely.
-
-Camera and offscreen rendering support is enabled automatically. No environment variable or command-line
-option is required for camera tasks.
-
-
-To set the environment variables, one can use the following command in the terminal:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
-      :sync: linux-x86_64
-
-      .. code-block:: bash
-
-         export LIVESTREAM=2
-         # run the python script
-         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-      Alternatively, set the environment variable inline for a single invocation:
-
-      .. code-block:: bash
-
-         LIVESTREAM=2 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
-      :sync: linux-aarch64
-
-      .. code-block:: bash
-
-         export LIVESTREAM=2
-         # run the python script
-         LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-      Alternatively, set the environment variable inline for a single invocation:
-
-      .. code-block:: bash
-
-         LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-      .. note::
-
-         Direct Python commands that import Isaac Sim on aarch64 require the
-         ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`` prefix shown above. See
-         :ref:`installation-method-uv`.
-
-      .. warning::
-
-         Livestreaming is not currently supported or validated on DGX Spark. See the
-         :doc:`/source/setup/installation/index` for the current list of features not
-         yet validated on this platform.
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      In Command Prompt:
-
-      .. code-block:: batch
-
-         set LIVESTREAM=2
-         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-      In PowerShell:
-
-      .. code-block:: powershell
-
-         $env:LIVESTREAM = "2"
-         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
-
-      .. note::
-
-         The POSIX inline ``VAR=value <command>`` prefix form used on Linux (for example
-         ``LIVESTREAM=2 uv run ...``) has no Windows equivalent; use one of the two forms
-         above instead.
-
-
-Overriding the environment variables
-------------------------------------
-
-The environment variables can be overridden in the python script itself using the :class:`AppLauncher`.
-These can be passed as a dictionary, a :class:`argparse.Namespace` object or as keyword arguments.
-When the passed arguments are not the default values, then they override the environment variables.
-
-The following snippet shows how use the :class:`AppLauncher` in different ways:
-
-.. code:: python
-
-   import argparse
-
-   from isaaclab.app import AppLauncher
-
-   # add argparse arguments
-   parser = argparse.ArgumentParser()
-   # add your own arguments
-   # ....
-   # add app launcher arguments for cli
-   AppLauncher.add_app_launcher_args(parser)
-   # parse arguments
-   args = parser.parse_args()
-
-   # launch omniverse isaac-sim app
-   # -- Option 1: Pass the settings as a Namespace object
-   app_launcher = AppLauncher(args).app
-   # -- Option 2: Pass the settings as keywords arguments
-   app_launcher = AppLauncher(headless=args.headless, livestream=args.livestream)
-   # -- Option 3: Pass the settings as a dictionary
-   app_launcher = AppLauncher(vars(args))
-   # -- Option 4: Pass no settings
-   app_launcher = AppLauncher()
+Simulation Launcher
+-------------------
 
-   # obtain the launched app
-   simulation_app = app_launcher.app
+.. autofunction:: launch_simulation
 
+.. autofunction:: add_launcher_args
 
-Simulation App Launcher
------------------------
+.. autoclass:: SimulationLauncher
+   :members:
 
 .. autoclass:: AppLauncher
    :members:
 
-
-Simulation Launcher
--------------------
-
-.. autofunction:: launch_simulation
-
 .. autofunction:: make_physics_cfg
 
 .. autofunction:: scan
@@ -180,8 +44,6 @@ Simulation Launcher
    :members:
 
 
-.. _livestream: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html
-.. _`WebRTC Livestream`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client
 
 Additional Public Classes
 -------------------------

docs/source/api/lab_ov/isaaclab_ov.app.rst

@@ -0,0 +1,9 @@
+isaaclab\_ov.app
+================
+
+.. automodule:: isaaclab_ov.app
+
+.. currentmodule:: isaaclab_ov.app
+
+.. autoclass:: OvrtxLauncher
+   :show-inheritance: