How to launch Isaac Sim in headless (websocket/kit/rtc) modes from the shell? (Shell-equivalent commands for the launcher selections)

The help usage shows the following, but I don’t see any direct reference to the 3 headless modes:

kit Usage:
 kit [APP_CONFIG] [--exec SCRIPT ARGS...] [--</path/to/key>=<value>] [--enable EXT_ID] [--ext-folder PATH]

[APP_CONFIG]: Pass to app configuration file.
--help, -h: this help message
--info, -v: show info log output in console
--verbose, -vv: show verbose log output in console
--merge-config, -m=<file>: merge configuration file.
--enable EXT_ID: Enable extension (short hand to add extension to enabled list).
--ext-folder PATH: Add extension folder to look extensions in.
--ext-path PATH: Add direct extension path (allows adding single extension).
--publish EXT_ID: Publish extension to the registry and quit.
--publish-overwrite: Allow overwriting extension in registry when publishing.
--unpublish EXT_ID: Unpublish extension from the registry and quit.
--update-exts: Look for latest versions in extension registry and update for all enabled extensions.
--list-exts: List all local extensions and quit.
--list-registry-exts: List all registry extensions and quit.
--disable-ext-startup: Do not startup any extensions, only load them.
--ext-precache-mode: Only resolve and download all extensions, exit right after.
--portable: Enable portable mode. Portable root defaults to ${kit} path.
--portable-root PATH: Enable portable mode and place data/cache/logs folders there.
--reset-user: Do not load persistent settings from user.config file.
--clear-data: Clear $data folder before starting.
--clear-cache: Clear $cache folder before starting.
--exec SCRIPT ARGS..., -e SCRIPT ARGS...: execute a console command on startup
--</path/to/key>=<value>: instruct to supersede configuration key with given value.
--allow-root: do not exit when kit is run as root.

Usage hints:
	use --/ syntax to override any setting. For instance use: --/app/printConfig=true to print startup configuration.

Kit Version: 101.0+release.1106.a41b6e49.teamcity

What are the direct shell commands to launch isaac sim in the following modes?

  • headless websocket
  • headless webrtc
  • headless kit

Note: I’m not looking to use the utility. I’m specifically looking for a direct shell-based approach to launch isaac sim in the different headless modes.

Looks like there are a few sh files in the same folder that I hadn’t noticed earlier, that are specifically for this: