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============
.. automodule:: isaaclab.app
.. rubric:: Classes
.. autosummary::
AppLauncher
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.
* **Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set to 1, then the
cameras are enabled. This is useful for running the simulator without a GUI but still rendering the
viewport and camera images.
* ``ENABLE_CAMERAS=1``: Enables the offscreen-render pipeline which allows users to render
the scene without launching a GUI.
.. note::
The off-screen rendering pipeline only works when used in conjunction with the
:class:`isaaclab.sim.SimulationContext` class. This is because the off-screen rendering
pipeline enables flags that are internally used by the SimulationContext class.
To set the environment variables, one can use the following command in the terminal:
.. code:: bash
export LIVESTREAM=2
export ENABLE_CAMERAS=1
# run the python script
./isaaclab.sh -p scripts/demos/quadrupeds.py
Alternatively, one can set the environment variables to the python script directly:
.. code:: bash
LIVESTREAM=2 ENABLE_CAMERAS=1 ./isaaclab.sh -p scripts/demos/quadrupeds.py
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 argparser
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()
# obtain the launched app
simulation_app = app_launcher.app
Simulation App Launcher
-----------------------
.. autoclass:: AppLauncher
:members:
.. _livestream: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html
.. _`WebRTC Livestream`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client
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