Passes device from CLI args to simulation config in standalone scripts

docs/source/how-to/estimate_how_many_cameras_can_run.rst

@@ -23,13 +23,13 @@ numbers of cameras that can run in your task environment up to a
 certain specified system resource utilization threshold (without training; taking zero actions
 at each timestep).
 
-This guide accompanies the ``benchmark_cameras.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors``
+This guide accompanies the ``benchmark_cameras.py`` script in the ``source/standalone/benchmarks``
 directory.
 
 .. dropdown:: Code for benchmark_cameras.py
    :icon: code
 
-   .. literalinclude:: ../../../source/standalone/tutorials/04_sensors/benchmark_cameras.py
+   .. literalinclude:: ../../../source/standalone/benchmarks/benchmark_cameras.py
       :language: python
       :linenos:
 
@@ -41,7 +41,7 @@ First, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
 
 to see all possible parameters you can vary with this utility.
 
@@ -61,7 +61,7 @@ only in RGB mode, run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb
@@ -74,7 +74,7 @@ you can run with cartpole, you could run:
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
    --task_num_cameras_per_env 2 \
    --tiled_camera_data_types rgb --autotune \
@@ -97,7 +97,7 @@ For example, to view 100 random objects with 2 standard cameras, one could run
 
 .. code-block:: bash
 
-   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py \
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
    --height 100 --width 100 --num_standard_cameras 2 \
    --standard_camera_data_types instance_segmentation_fast normals --num_objects 100 \
    --experiment_length 100
@@ -118,4 +118,4 @@ If your system has a hard time handling the desired cameras, you can try the fol
    - Decrease the number of objects in the scene
 
 If your system is able to handle the amount of cameras, then the time statistics will be printed to the terminal.
-After the simulations stops it can be closed with CTRL C.
+After the simulations stops it can be closed with CTRL+C.

docs/source/overview/environments.rst

@@ -53,13 +53,13 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
     |                  |                             |                                                                         |
     |                  | |cartpole-direct-link|      |                                                                         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+
-    | |cartpole|       | |manager-camera-rgb-link|   | Move the cart to keep the pole upwards in the classic cartpole control  |
+    | |cartpole|       | |cartpole-rgb-link|         | Move the cart to keep the pole upwards in the classic cartpole control  |
     |                  |                             | and perceptive inputs                                                   |
-    |                  | |manager-camera-dpt-link|   |                                                                         |
+    |                  | |cartpole-depth-link|       |                                                                         |
     |                  |                             |                                                                         |
-    |                  | |cartpole-camera-rgb-link|  |                                                                         |
+    |                  | |cartpole-rgb-direct-link|  |                                                                         |
     |                  |                             |                                                                         |
-    |                  | |cartpole-camera-dpt-link|  |                                                                         |
+    |                  | |cartpole-depth-direct-link||                                                                         |
     +------------------+-----------------------------+-------------------------------------------------------------------------+
 
 .. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
@@ -69,16 +69,14 @@ Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-sty
 .. |humanoid-link| replace:: `Isaac-Humanoid-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
 .. |ant-link| replace:: `Isaac-Ant-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
 .. |cartpole-link| replace:: `Isaac-Cartpole-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__
+.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
 
 .. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py>`__
 .. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py>`__
-.. |manager-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |manager-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
 .. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py>`__
-.. |manager-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |manager-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
-.. |cartpole-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
-.. |cartpole-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+.. |cartpole-rgb-direct-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+.. |cartpole-depth-direct-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
 
 Manipulation
 ~~~~~~~~~~~~

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

@@ -178,11 +178,11 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None:
         * ``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 Isaac Lab (in that order).
 
-          If provided as an empty string, the experience file is determined based on the headless flag:
+          If provided as an empty string, the experience file is determined based on the command-line flags:
 
           * If headless and enable_cameras are True, the experience file is set to ``isaaclab.python.headless.rendering.kit``.
           * If headless is False and enable_cameras is True, the experience file is set to ``isaaclab.python.rendering.kit``.
-          * If headless is False and enable_cameras is False, the experience file is set to ``isaaclab.python.kit``.
+          * If headless and enable_cameras are False, the experience file is set to ``isaaclab.python.kit``.
           * If headless is True and enable_cameras is False, the experience file is set to ``isaaclab.python.headless.kit``.
 
         Args:

source/standalone/tutorials/04_sensors/benchmark_cameras.py → source/standalone/benchmarks/benchmark_cameras.py

@@ -5,18 +5,19 @@
 
 """
 This script might help you determine how many cameras your system can realistically run
-at different desired settings. You can supply different task environments
-to inject cameras into, or just test a sample scene. Additionally,
-you can automatically find the maximum amount of cameras you can run a task with through the
-autotune functionality.
+at different desired settings.
+
+You can supply different task environments to inject cameras into, or just test a sample scene.
+Additionally, you can automatically find the maximum amount of cameras you can run a task with
+through the auto-tune functionality.
 
 .. code-block:: bash
 
     # Usage with GUI
-    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h
+    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
 
     # Usage with headless
-    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/benchmark_cameras.py -h --headless
+    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h --headless
 
 """
 
@@ -753,7 +754,7 @@ def main():
     print("[INFO]: Designing the scene")
     if args_cli.task is None:
         print("[INFO]: No task environment provided, creating random scene.")
-        sim_cfg = sim_utils.SimulationCfg(device="cpu" if args_cli.cpu else "cuda")
+        sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
         sim = sim_utils.SimulationContext(sim_cfg)
         # Set main camera
         sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])

source/standalone/demos/arms.py

@@ -210,7 +210,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([3.5, 0.0, 3.2], [0.0, 0.0, 0.5])

source/standalone/demos/bipeds.py

@@ -47,9 +47,9 @@
 
 def main():
     """Main function."""
-
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.0, 0.0, 2.25], target=[0.0, 0.0, 1.0])
 

source/standalone/demos/cameras.py

@@ -9,10 +9,10 @@
 .. code-block:: bash
 
     # Usage
-    ./isaaclab.sh -p source/standalone/demos/cameras.py --disable_fabric
+    ./isaaclab.sh -p source/standalone/demos/cameras.py --enable_cameras
 
     # Usage in headless mode
-    ./isaaclab.sh -p source/standalone/demos/cameras.py --headless --enable_cameras --disable_fabric
+    ./isaaclab.sh -p source/standalone/demos/cameras.py --headless --enable_cameras
 
 """
 
@@ -274,16 +274,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 
 def main():
     """Main function."""
-
-    # note: tile rendered cameras doesn't update the camera poses when using the GPU pipeline and Fabric.
-    #   this is a bug which should be fixed in the future releases.
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
-    # check if fabric is enabled
-    if args_cli.disable_fabric:
-        sim_cfg.use_fabric = False
-        sim_cfg.device = "cpu"
-
     # Initialize the simulation context
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device, use_fabric=not args_cli.disable_fabric)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/standalone/demos/deformables.py

@@ -177,7 +177,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([4.0, 4.0, 3.0], [0.5, 0.5, 0.0])

source/standalone/demos/hands.py

@@ -143,9 +143,9 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 
 def main():
     """Main function."""
-
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.0, -0.5, 1.5], target=[0.0, -0.2, 0.5])
     # design scene

source/standalone/demos/markers.py

@@ -94,7 +94,8 @@ def define_markers() -> VisualizationMarkers:
 def main():
     """Main function."""
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
 

source/standalone/demos/procedural_terrain.py

@@ -152,9 +152,9 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, AssetBas
 
 def main():
     """Main function."""
-
     # Initialize the simulation context
-    sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.01))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
+    sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
     # design scene

source/standalone/demos/quadcopter.py

@@ -45,9 +45,9 @@
 
 def main():
     """Main function."""
-
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[0.5, 0.5, 1.0], target=[0.0, 0.0, 0.5])
 

source/standalone/tutorials/00_sim/launch_app.py

@@ -70,7 +70,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

source/standalone/tutorials/00_sim/spawn_prims.py

@@ -92,7 +92,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])

source/standalone/tutorials/01_assets/run_articulation.py

@@ -120,7 +120,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Articula
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu")
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/01_assets/run_deformable_object.py

@@ -146,7 +146,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, Deformab
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.0, 0.0, 1.0], target=[0.0, 0.0, 0.5])

source/standalone/tutorials/01_assets/run_rigid_object.py

@@ -125,7 +125,7 @@ def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, RigidObj
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[1.5, 0.0, 1.0], target=[0.0, 0.0, 0.0])

source/standalone/tutorials/02_scene/create_scene.py

@@ -109,7 +109,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(device="cpu")
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])

source/standalone/tutorials/04_sensors/add_sensors_on_robot.py

@@ -156,7 +156,7 @@ def main():
     """Main function."""
 
     # Initialize the simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.005)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[3.5, 3.5, 3.5], target=[0.0, 0.0, 0.0])

source/standalone/tutorials/04_sensors/run_frame_transformer.py

@@ -164,7 +164,8 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
 def main():
     """Main function."""
     # Load kit helper
-    sim = SimulationContext(sim_utils.SimulationCfg(dt=0.005))
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # Design the scene

source/standalone/tutorials/04_sensors/run_ray_caster.py

@@ -129,7 +129,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene_entities: dict):
 def main():
     """Main function."""
     # Load simulation context
-    sim_cfg = sim_utils.SimulationCfg()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([0.0, 15.0, 15.0], [0.0, 0.0, -2.5])

source/standalone/tutorials/05_controllers/run_diff_ik.py

@@ -190,7 +190,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 def main():
     """Main function."""
     # Load kit helper
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
     sim = sim_utils.SimulationContext(sim_cfg)
     # Set main camera
     sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])