##
# Adapted from: _isaac_sim/apps/omni.isaac.sim.python.gym.headless.kit
##

[package]
title = "Isaac Lab Python Headless"
description = "An app for running Isaac Lab headlessly"
version = "2.3.0"

# That makes it browsable in UI with "experience" filter
keywords = ["experience", "app", "isaaclab", "python", "headless"]

[settings]
# Note: This path was adapted to be respective to the kit-exe file location
app.versionFile = "${exe-path}/VERSION"
app.folder = "${exe-path}/"
app.name = "Isaac-Sim"
app.version = "5.1.0"

##################################
# Omniverse related dependencies #
##################################
[dependencies]
"omni.physx" = {}
"omni.physx.tensors" = {}
"omni.physx.fabric" = {}
"omni.warp.core" = {}
"usdrt.scenegraph" = {}
"omni.kit.telemetry" = {}
"omni.kit.loop" = {}
# this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
"omni.kit.usd.mdl" = {}
# this is used for converting assets that have the wrong units
"omni.usd.metrics.assembler.ui" = {}

[settings]
app.content.emptyStageOnStart = false

# Disable print outs on extension startup information
# this only disables the app print_and_log function
app.enableStdoutOutput = false

# default viewport is fill
app.runLoops.rendering_0.fillResolution = false
exts."omni.kit.window.viewport".blockingGetViewportDrawable = false

# Fix PlayButtonGroup error
exts."omni.kit.widget.toolbar".PlayButton.enabled = false

# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

[settings.app.settings]
persistent = true
dev_build = false
fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?

[settings.app.python]
# These disable the kit app from also printing out python output, which gets confusing
interceptSysStdOutput = false
logSysStdOutput = false

[settings]
# MGPU is always on, you can turn it from the settings, and force this off to save even more resource if you
# only want to use a single GPU on your MGPU system
# False for Isaac Sim
renderer.multiGpu.enabled = true
renderer.multiGpu.autoEnable = true
'rtx-transient'.resourcemanager.enableTextureStreaming = true
app.asyncRendering = false
app.asyncRenderingLowLatency = false
app.hydraEngine.waitIdle = false
# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
omni.replicator.asyncRendering = false

### FSD
# this .kit file is used for headless, no-rendering cases. There won't be a scene delegate
# created, but setting useFSD to false here is done to not do full fabric population, but
# instead to minimal population
app.useFabricSceneDelegate = false

# Enable Iray and pxr by setting this to "rtx,iray,pxr"
renderer.enabled = "rtx"

# Avoid warning on shutdown from audio context
app.audio.enabled = false

# Enable Vulkan - avoids torch+cu12 error on windows
app.vulkan = true

# Set profiler backend to NVTX by default
app.profilerBackend = "nvtx"

# Disables rate limit in runloop
app.runLoops.main.rateLimitEnabled=false

# hide NonToggleable Exts
exts."omni.kit.window.extensions".hideNonToggleableExts = true
exts."omni.kit.window.extensions".showFeatureOnly = false

# set the default ros bridge to disable on startup
isaac.startup.ros_bridge_extension = ""

# disable the metrics assembler change listener, we don't want to do any runtime changes
metricsAssembler.changeListenerEnabled = false

# Extensions
###############################
[settings.exts."omni.kit.registry.nucleus"]
registries = [
    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
    { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
    { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
]

[settings.app.extensions]
skipPublishVerification = false
registryEnabled = true

[settings.crashreporter.data]
experience = "Isaac Sim"

[settings.persistent]
app.file.recentFiles = []
app.stage.upAxis = "Z"
app.stage.movePrimInPlace = false
app.stage.instanceableOnCreatingReference = false
app.stage.materialStrength = "weakerThanDescendants"

app.transform.gizmoUseSRT = true
app.viewport.grid.scale = 1.0
app.viewport.pickingMode = "kind:model.ALL"
app.viewport.camMoveVelocity = 0.05 # 5 m/s
app.viewport.gizmo.scale = 0.01 # scaled to meters
app.viewport.previewOnPeek = false
app.viewport.snapToSurface = false
app.viewport.displayOptions = 31951 # Disable Frame Rate and Resolution by default
app.window.uiStyle = "NvidiaDark"
app.primCreation.DefaultXformOpType = "Scale, Orient, Translate"
app.primCreation.DefaultXformOpOrder="xformOp:translate, xformOp:orient, xformOp:scale"
app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0]
simulation.minFrameRate = 15
simulation.defaultMetersPerUnit = 1.0
omnigraph.updateToUsd = false
omnigraph.useSchemaPrims = true
omnigraph.disablePrimNodes = true
omni.replicator.captureOnPlay = true
omnihydra.useSceneGraphInstancing = true
renderer.startupMessageDisplayed = true # hides the IOMMU popup window

# Make Detail panel visible by default
app.omniverse.content_browser.options_menu.show_details = true
app.omniverse.filepicker.options_menu.show_details = true

[settings.physics]
updateToUsd = false
updateParticlesToUsd = false
updateVelocitiesToUsd = false
updateForceSensorsToUsd = false
outputVelocitiesLocalSpace = false
useFastCache = false
visualizationDisplayJoints = false
fabricUpdateTransformations = false
fabricUpdateVelocities = false
fabricUpdateForceSensors = false
fabricUpdateJointStates = false
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
fabricUseGPUInterop = true

# Performance improvement
resourcemonitor.timeBetweenQueries = 100

# Register extension folder from this repo in kit
[settings.app.exts]
folders = [
    "${exe-path}/exts",  # kit extensions
    "${exe-path}/extscore",  # kit core extensions
    "${exe-path}/../exts",  # isaac extensions
    "${exe-path}/../extsDeprecated",  # deprecated isaac extensions
    "${exe-path}/../extscache",  # isaac cache extensions
    "${exe-path}/../extsPhysics",  # isaac physics extensions
    "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
    "${exe-path}/../isaacsim/extsDeprecated",  # deprecated isaac extensions
    "${exe-path}/../isaacsim/extscache",  # isaac cache extensions for pip
    "${exe-path}/../isaacsim/extsPhysics",  # isaac physics extensions for pip
    "${app}", # needed to find other app files
    "${app}/../source", # needed to find extensions in Isaac Lab
]

[settings.ngx]
enabled=true # Enable this for DLSS

########################
# Isaac Sim Extensions #
########################
[dependencies]
"isaacsim.simulation_app" = {}
"isaacsim.core.api" = {}
"isaacsim.core.cloner" = {}
"isaacsim.core.utils" = {}
"isaacsim.core.version" = {}

########################
# Isaac Lab Extensions #
########################

# Load Isaac Lab extensions last
"isaaclab" = {order = 1000}
"isaaclab_assets" = {order = 1000}
"isaaclab_tasks" = {order = 1000}
"isaaclab_mimic" = {order = 1000}
"isaaclab_rl" = {order = 1000}

# Asset path
# set the S3 directory manually to the latest published S3
# note: this is done to ensure prior versions of Isaac Sim still use the latest assets
[settings]
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"