[Core] Inline launch-stack helpers that only restate or forward

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

@@ -18,7 +18,6 @@
 
       add_launcher_args
       launch_simulation
-      make_physics_cfg
       report_activity
       scan
 
@@ -36,8 +35,6 @@ Simulation Launcher
 .. autoclass:: AppLauncher
    :members:
 
-.. autofunction:: make_physics_cfg
-
 .. autofunction:: scan
 
 .. autoclass:: Scan

source/isaaclab/changelog.d/launch-helper-cleanup.major.rst

@@ -0,0 +1,25 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed ``--viz none`` to parse to an empty list instead of ``None``, so ``args_cli.visualizer is None``
+  means no ``--viz`` was passed and ``[]`` means all visualizers are disabled. The ``visualizer_explicit`` and
+  ``visualizer_disable_all`` launcher arguments are removed; check ``args_cli.visualizer`` instead.
+* Changed :func:`~isaaclab.app.launch_simulation` to also detect a ``newton_rtx`` visualizer listed in
+  ``visualizer_cfgs``, so the OVRTX runtime starts and the Kit conflict check applies.
+
+Added
+^^^^^
+
+* Added ``launcher_type`` to :class:`~isaaclab.physics.PhysicsCfg` and :class:`~isaaclab.renderers.RendererCfg`,
+  defaulting to ``None`` for configs whose runtime needs no launcher.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Removed ``SettingsManager.instance()``. Use :func:`~isaaclab.app.get_settings_manager`.
+* **Breaking:** Removed ``SettingsManager.set_bool``, ``set_int``, ``set_float``, and ``set_string``. Use
+  :meth:`~isaaclab.app.SettingsManager.set`, which dispatches on the value type.
+* **Breaking:** Removed ``isaaclab.app.make_physics_cfg``. Select the backend with the ``physics`` launcher
+  argument of :func:`~isaaclab.app.launch_simulation`, or construct the physics config directly.
+* **Breaking:** Removed ``isaaclab.app.logging_utils.resolve_python_logging_level``.
+  :func:`~isaaclab.app.launch_simulation` applies the ``--verbose`` / ``--info`` level itself.

source/isaaclab/isaaclab/app/__init__.pyi

@@ -10,7 +10,6 @@ __all__ = [
     "get_settings_manager",
     "add_launcher_args",
     "launch_simulation",
-    "make_physics_cfg",
     "scan",
     "Scan",
     "LoadingScreen",
@@ -25,6 +24,5 @@ from .sim_launcher import (
     SimulationLauncher,
     add_launcher_args,
     launch_simulation,
-    make_physics_cfg,
     scan,
 )

source/isaaclab/isaaclab/app/logging_utils.py

@@ -3,52 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Backend-agnostic resolution and application of the Python logging level.
+"""Backend-agnostic application of the Python logging level.
 
 The logging intent expressed by the ``--verbose`` / ``--info`` CLI arguments must be
-honored by every simulation backend, not just the Kit-based one. Keeping the resolution
+honored by every simulation backend, not just the Kit-based one. Keeping the application
 here (rather than inside :class:`~isaaclab_physx.app.KitLauncher`) lets the kitless launch path
 apply the same level without constructing Kit.
 """
 
 from __future__ import annotations
 
-import argparse
 import logging
-import sys
 from contextlib import contextmanager
 
 
-def resolve_python_logging_level(launcher_args: argparse.Namespace | dict | None = None) -> int:
-    """Resolve the intended Python logging level from launcher args and ``sys.argv``.
-
-    ``--verbose`` maps to :data:`logging.DEBUG` and ``--info`` to :data:`logging.INFO`.
-    When neither is requested, the current effective level of the root logger is kept
-    (falling back to :data:`logging.WARNING` when unset).
-
-    Args:
-        launcher_args: Parsed launcher arguments as a namespace or dict. Defaults to None,
-            which is treated as an empty set of arguments.
-
-    Returns:
-        The resolved logging level.
-    """
-    if launcher_args is None:
-        args = {}
-    elif isinstance(launcher_args, argparse.Namespace):
-        args = launcher_args.__dict__
-    else:
-        args = launcher_args
-
-    if args.get("verbose", False) or "--verbose" in sys.argv:
-        return logging.DEBUG
-    if args.get("info", False) or "--info" in sys.argv:
-        return logging.INFO
-
-    level = logging.getLogger().getEffectiveLevel()
-    return logging.WARNING if level == logging.NOTSET else level
-
-
 @contextmanager
 def force_log_level(level: int):
     """Context manager that temporarily lowers the root logger and its handlers to *level*, then restores them.

source/isaaclab/isaaclab/app/settings_manager.py

@@ -58,21 +58,6 @@ def __init__(self):
         self._backend = None
         self._needs_init = False
 
-    @classmethod
-    def instance(cls) -> "SettingsManager":
-        """Get the singleton instance of the settings manager.
-
-        Returns:
-            The singleton SettingsManager instance
-        """
-        # Get instance from sys.modules (survives module reloads)
-        instance = sys.modules.get(_SINGLETON_KEY)
-
-        if instance is None:
-            instance = cls()
-
-        return instance
-
     def set_backend(self, backend: Any) -> None:
         """Delegate all settings to *backend* from now on.
 
@@ -124,42 +109,6 @@ def get(self, path: str, default: Any = None) -> Any:
             # Standalone mode - use dictionary
             return self._standalone_settings.get(path, default)
 
-    def set_bool(self, path: str, value: bool) -> None:
-        """Set a boolean setting value.
-
-        Args:
-            path: The settings path
-            value: The boolean value to set
-        """
-        self.set(path, value)
-
-    def set_int(self, path: str, value: int) -> None:
-        """Set an integer setting value.
-
-        Args:
-            path: The settings path
-            value: The integer value to set
-        """
-        self.set(path, value)
-
-    def set_float(self, path: str, value: float) -> None:
-        """Set a float setting value.
-
-        Args:
-            path: The settings path
-            value: The float value to set
-        """
-        self.set(path, value)
-
-    def set_string(self, path: str, value: str) -> None:
-        """Set a string setting value.
-
-        Args:
-            path: The settings path
-            value: The string value to set
-        """
-        self.set(path, value)
-
 
 def get_settings_manager() -> SettingsManager:
     """Get the global settings manager instance.