##
# Adapted from: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/apps/omni.isaac.sim.python.gym.camera.kit
#
# This app file designed specifically towards vision-based RL tasks. It provides necessary settings to enable
# multiple cameras to be rendered each frame. Additional settings are also applied to increase performance when
# rendering cameras across multiple environments.
##

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

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

[dependencies]
# Isaac Lab minimal app
"isaaclab.python.headless" = {}
"omni.replicator.core" = {}

# Rendering
"omni.kit.material.library" = {}
"omni.kit.viewport.rtx" = {}

[settings.isaaclab]
# This is used to check that this experience file is loaded when using cameras
cameras_enabled = true

[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"

### FSD
app.useFabricSceneDelegate = true
# Temporary, should be enabled by default in Kit soon
rtx.hydra.readTransformsFromFabricInRenderDelegate = true

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

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

# Flags for better rendering performance
# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
rtx.translucency.enabled = false
rtx.reflections.enabled = false
rtx.indirectDiffuse.enabled = false
rtx-transient.dlssg.enabled = false
rtx.directLighting.sampledLighting.enabled = true
rtx.directLighting.sampledLighting.samplesPerPixel = 1
rtx.sceneDb.ambientLightIntensity = 1.0
# rtx.shadows.enabled = false

# Avoids replicator warning
rtx.pathtracing.maxSamplesPerLaunch = 1000000
# Avoids silent trimming of tiles
rtx.viewTile.limit = 1000000

# Disable present thread to improve performance
exts."omni.renderer.core".present.enabled=false

# Disabling these settings reduces renderer VRAM usage and improves rendering performance, but at some quality cost
rtx.raytracing.cached.enabled = false
rtx.ambientOcclusion.enabled = false

# Set the DLSS model
rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)

# Avoids unnecessary GPU context initialization
renderer.multiGpu.maxGpuCount=1

# Force synchronous rendering to improve training results
omni.replicator.asyncRendering = false

# Avoids frame offset issue
app.updateOrder.checkForHydraRenderComplete = 1000
app.renderer.waitIdle=true
app.hydraEngine.waitIdle=true

# Forces serial processing for omni graph to avoid NCCL timeout hangs in distributed training
app.execution.debug.forceSerial = true

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

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

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

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

[settings.app.renderer]
skipWhileMinimized = false
sleepMsOnFocus = 0
sleepMsOutOfFocus = 0

[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

# 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
]

# 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"