Renames VIEWPORT_ENABLED to OFFSCREEN_RENDERING for clarity (#167)

# Description

- Made SimulationContext correctly report RenderMode for streaming
- Changed language about HEADLESS in RenderMode to instead be NO_GUI,
because headlessness still requires rendering when livestreaming is
active, whereas NO_GUI is unambiguous. Also did some reordering of
docstrings for clarity.
- Removed unnecessary RENDER and VIEWPORT class vars from LauncherApp,
now that this signal is being taken from SimulationContext.

I will propagate this change to all standalone scripts/update docs once
I have conceptual approval.

Fixes #90, #145 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------

Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

.gitignore

@@ -32,6 +32,7 @@
 **/output/*
 **/outputs/*
 **/videos/*
+docker/artifacts/
 *.tmp
 
 # Isaac-Sim packman

docs/source/tutorials_envs/02_wrappers.rst

@@ -15,14 +15,25 @@ For example, here is how you would wrap an environment to enforce that reset is
 
 .. code-block:: python
 
+    """Launch Isaac Sim Simulator first."""
+
+
+    from omni.isaac.orbit.app import AppLauncher
+
+    # launch omniverse app in headless mode
+    app_launcher = AppLauncher(headless=True)
+    simulation_app = app_launcher.app
+
+    """Rest everything follows."""
+
     import gym
 
     import omni.isaac.orbit_envs  # noqa: F401
     from omni.isaac.orbit_envs.utils import load_default_env_cfg
 
     # create base environment
     cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
-    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, render=True)
+    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg)
     # wrap environment to enforce that reset is called before step
     env = gym.wrappers.OrderEnforcing(env)
 
@@ -41,23 +52,12 @@ To use the wrapper, you need to first install ``ffmpeg``. On Ubuntu, you can ins
 
     sudo apt-get install ffmpeg
 
-The :class:`IsaacEnv` supports different rendering modes: "human" and "rgb_array". The "human" mode
-is used when you want to render the environment to the screen. The "rgb_array" mode is used when you want
-to get the rendered image as a numpy array. However, the "rgb_array" mode is allowed only when viewport
-is enabled. This can be done by setting the ``viewport`` argument to ``True`` when creating the environment.
-
-.. code-block:: python
-
-    import gym
-
-    import omni.isaac.orbit_envs  # noqa: F401
-    from omni.isaac.orbit_envs.utils import load_default_env_cfg
+The :class:`omni.isaac.orbit.envs.RlEnv` supports the rendering modes:
 
-    # create base environment
-    cfg = load_default_env_cfg("Isaac-Reach-Franka-v0")
-    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg, render=True, viewport=True)
-    # wrap environment to enforce that reset is called before step
-    env = gym.wrappers.OrderEnforcing(env)
+* **"human"**: When you want to render the environment to the screen. It does not return any image.
+* **"rgb_array"**: When you want to get the rendered image as a numpy array. It returns the image as a numpy array.
+  This mode is only possible when viewport is enabled, i.e. either the GUI window is open or off-screen rendering flag
+  is enabled.
 
 .. attention::
 
@@ -67,40 +67,52 @@ is enabled. This can be done by setting the ``viewport`` argument to ``True`` wh
   We notice the following performance in different rendering modes with the  ``Isaac-Reach-Franka-v0`` environment
   using an RTX 3090 GPU:
 
-  * Headless execution without viewport enabled: ~65,000 FPS
-  * Headless execution with viewport enabled: ~57,000 FPS
-  * Non-headless execution (i.e. with GUI): ~13,000 FPS
+  * No GUI execution without off-screen rendering enabled: ~65,000 FPS
+  * No GUI execution with off-screen enabled: ~57,000 FPS
+  * GUI execution with full rendering: ~13,000 FPS
 
 
 The viewport camera used for rendering is the default camera in the scene called ``"/OmniverseKit_Persp"``.
 The camera's pose and image resolution can be configured through the
-:class:`omni.isaac.orbit_env.isaac_env_cfg.ViewerCfg` class.
+:class:`omni.isaac.orbit.envs.base_env_cfg.ViewerCfg` class.
 
 
-.. dropdown:: :fa:`eye,mr-1` Default parameters of the :class:`ViewerCfg` in the ``isaac_env_cfg.py`` file:
+.. dropdown:: :fa:`eye,mr-1` Default parameters of the :class:`ViewerCfg` in the ``base_env_cfg.py`` file:
 
-   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env_cfg.py
+   .. literalinclude:: ../../../source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/base_env_cfg.py
       :language: python
-      :lines: 37-52
+      :lines: 23-38
       :linenos:
-      :lineno-start: 37
+      :lineno-start: 31
 
 
 After adjusting the parameters, you can record videos by wrapping the environment with the
-:class:`gym.wrappers.RecordVideo <gym:RecordVideo>` wrapper. As an example, the following code
-records a video of the ``Isaac-Reach-Franka-v0`` environment for 200 steps, and saves it in the
-``videos`` folder at a step interval of 1500 steps.
+:class:`gym.wrappers.RecordVideo <gym:RecordVideo>` wrapper and enabling the off-screen rendering
+flag. As an example, the following code records a video of the ``Isaac-Reach-Franka-v0`` environment
+for 200 steps, and saves it in the ``videos`` folder at a step interval of 1500 steps.
 
 .. code:: python
 
+    """Launch Isaac Sim Simulator first."""
+
+
+    from omni.isaac.orbit.app import AppLauncher
+
+    # launch omniverse app in headless mode with off-screen rendering
+    app_launcher = AppLauncher(headless=True, offscreen_render=True)
+    simulation_app = app_launcher.app
+
+    """Rest everything follows."""
+
+
     import gym
 
     # adjust camera resolution and pose
     env_cfg.viewer.resolution = (640, 480)
     env_cfg.viewer.eye = (1.0, 1.0, 1.0)
     env_cfg.viewer.lookat = (0.0, 0.0, 0.0)
     # create isaac-env instance
-    env = gym.make(task_name, cfg=env_cfg, render=headless, viewport=True)
+    env = gym.make(task_name, cfg=env_cfg)
     # wrap for video recording
     video_kwargs = {
         "video_folder": "videos",

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.19"
+version = "0.9.20"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,20 @@
 Changelog
 ---------
 
+0.9.20 (2023-10-03)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Changed naming in :class:`omni.isaac.orbit.sim.SimulationContext.RenderMode` to use ``NO_GUI_OR_RENDERING``
+  and ``NO_RENDERING`` instead of ``HEADLESS`` for clarity.
+* Changed :class:`omni.isaac.orbit.sim.SimulationContext` to be capable of handling livestreaming and
+  offscreen rendering.
+* Changed :class:`omni.isaac.orbit.app.AppLauncher` envvar ``VIEWPORT_RECORD`` to the more descriptive
+  ``OFFSCREEN_RENDER``.
+
+
 0.9.19 (2023-10-25)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -173,6 +187,8 @@ Fixed
 * Fixed the boundedness of class objects that register callbacks into the simulator.
   These include devices, :class:`AssetBase`, :class:`SensorBase` and :class:`CommandGenerator`.
   The fix ensures that object gets deleted when the user deletes the object.
+
+
 0.9.7 (2023-09-26)
 ~~~~~~~~~~~~~~~~~~