From e02c5d07a4f91d2987a8b46bfe18f1a03fb0b498 Mon Sep 17 00:00:00 2001 From: Dhruvil Date: Sat, 16 May 2026 12:21:10 -0400 Subject: [PATCH] fix: forward CLI args to AppLauncher in state machine scripts The three state machine scripts under scripts/environments/state_machine/ register the full AppLauncher CLI surface via AppLauncher.add_app_launcher_args(parser) and parse it into args_cli, but then instantiate AppLauncher with only the headless flag: app_launcher = AppLauncher(headless=args_cli.headless) This drops every other parsed AppLauncher argument. The most visible symptom (reported in #5572) is that --viz kit on Isaac Lab 3.0 beta is silently ignored: the process stays alive, GPU goes into compute+graphics mode, but no Kit / Isaac Sim window opens. The same gap also drops --kit-args, --device, --enable_cameras, --livestream and others. Every other Isaac Lab 3 script that calls add_app_launcher_args passes the full args namespace through (e.g. scripts/tutorials/00_sim/*.py uses AppLauncher(args_cli)). Align the three state machine scripts (lift_cube_sm.py, open_cabinet_sm.py, lift_teddy_bear.py) to that pattern so --viz and the other registered flags reach the launcher. Fixes #5572 Signed-off-by: Dhruvil --- scripts/environments/state_machine/lift_cube_sm.py | 2 +- scripts/environments/state_machine/lift_teddy_bear.py | 2 +- scripts/environments/state_machine/open_cabinet_sm.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/scripts/environments/state_machine/lift_cube_sm.py b/scripts/environments/state_machine/lift_cube_sm.py index 6136e2e3a351..68c92076ada7 100644 --- a/scripts/environments/state_machine/lift_cube_sm.py +++ b/scripts/environments/state_machine/lift_cube_sm.py @@ -33,7 +33,7 @@ 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 else.""" diff --git a/scripts/environments/state_machine/lift_teddy_bear.py b/scripts/environments/state_machine/lift_teddy_bear.py index 2eb4ae710099..14fa2f5baf54 100644 --- a/scripts/environments/state_machine/lift_teddy_bear.py +++ b/scripts/environments/state_machine/lift_teddy_bear.py @@ -30,7 +30,7 @@ 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 # disable metrics assembler due to scene graph instancing diff --git a/scripts/environments/state_machine/open_cabinet_sm.py b/scripts/environments/state_machine/open_cabinet_sm.py index 3cb88d31a1a2..c2e85c879aba 100644 --- a/scripts/environments/state_machine/open_cabinet_sm.py +++ b/scripts/environments/state_machine/open_cabinet_sm.py @@ -33,7 +33,7 @@ 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 else."""