## # Adapted from: _isaac_sim/apps/isaacsim.exp.base.kit ## [package] title = "Isaac Lab Python" description = "An app for running Isaac Lab" version = "2.3.0" # That makes it browsable in UI with "experience" filter keywords = ["experience", "app", "usd"] [dependencies] # Isaac Sim extensions "isaacsim.app.about" = {} "isaacsim.asset.browser" = {} "isaacsim.core.api" = {} "isaacsim.core.cloner" = {} "isaacsim.core.nodes" = {} "isaacsim.core.simulation_manager" = {} "isaacsim.core.throttling" = {} "isaacsim.core.utils" = {} "isaacsim.core.version" = {} "isaacsim.gui.menu" = {} "isaacsim.gui.property" = {} "isaacsim.replicator.behavior" = {} "isaacsim.robot.manipulators" = {} "isaacsim.robot.policy.examples" = {} "isaacsim.robot.schema" = {} "isaacsim.robot.wheeled_robots" = {} "isaacsim.sensors.camera" = {} "isaacsim.sensors.physics" = {} "isaacsim.sensors.physx" = {} "isaacsim.sensors.rtx" = {} "isaacsim.simulation_app" = {} "isaacsim.storage.native" = {} "isaacsim.util.debug_draw" = {} # Isaac Sim Extra "isaacsim.asset.importer.mjcf" = {} "isaacsim.asset.importer.urdf" = {version = "2.4.31", exact = true} "omni.physx.bundle" = {} "omni.physx.tensors" = {} "omni.replicator.core" = {} "omni.replicator.replicator_yaml" = {} "omni.syntheticdata" = {} "semantics.schema.editor" = {} "semantics.schema.property" = {} # Kit based editor extensions "omni.anim.curve.core" = {} "omni.graph.action" = {} "omni.graph.core" = {} "omni.graph.nodes" = {} "omni.graph.scriptnode" = {} "omni.graph.ui_nodes" = {} "omni.hydra.engine.stats" = {} "omni.hydra.rtx" = {} "omni.kit.mainwindow" = {} "omni.kit.manipulator.camera" = {} "omni.kit.manipulator.prim" = {} "omni.kit.manipulator.selection" = {} "omni.kit.material.library" = {} "omni.kit.menu.common" = { order = 1000 } "omni.kit.menu.create" = {} "omni.kit.menu.stage" = {} "omni.kit.menu.utils" = {} "omni.kit.primitive.mesh" = {} "omni.kit.property.bundle" = {} "omni.kit.raycast.query" = {} "omni.kit.stagerecorder.bundle" = {} "omni.kit.stage_template.core" = {} "omni.kit.telemetry" = {} "omni.kit.tool.asset_importer" = {} "omni.kit.tool.collect" = {} "omni.kit.viewport.legacy_gizmos" = {} "omni.kit.viewport.menubar.camera" = {} "omni.kit.viewport.menubar.display" = {} "omni.kit.viewport.menubar.lighting" = {} "omni.kit.viewport.menubar.render" = {} "omni.kit.viewport.menubar.settings" = {} "omni.kit.viewport.scene_camera_model" = {} "omni.kit.viewport.window" = {} "omni.kit.window.console" = {} "omni.kit.window.content_browser" = {} "omni.kit.window.property" = {} "omni.kit.window.script_editor" = {} "omni.kit.window.stage" = {} "omni.kit.window.status_bar" = {} "omni.kit.window.toolbar" = {} "omni.physics.stageupdate" = {} "omni.rtx.settings.core" = {} "omni.uiaudio" = {} "omni.usd.metrics.assembler.ui" = {} "omni.usd.schema.metrics.assembler" = {} "omni.warp.core" = {} ######################## # 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} [settings] exts."omni.kit.material.library".ui_show_list = [ "OmniPBR", "OmniGlass", "OmniSurface", "USD Preview Surface", ] exts."omni.kit.renderer.core".present.enabled = false # Fixes MGPU stability issue exts."omni.kit.viewport.window".windowMenu.entryCount = 2 # Allow user to create two viewports by default exts."omni.kit.viewport.window".windowMenu.label = "" # Put Viewport menuitem under Window menu exts."omni.rtx.window.settings".window_menu = "Window" # Where to put the render settings menuitem exts."omni.usd".locking.onClose = false # reduce time it takes to close/create stage renderer.asyncInit = true # Don't block while renderer inits renderer.gpuEnumeration.glInterop.enabled = false # Improves startup speed. rendergraph.mgpu.backend = "copyQueue" # In MGPU configurations, This setting can be removed if IOMMU is disabled for better performance, copyQueue improves stability and performance when IOMMU is enabled rtx-transient.dlssg.enabled = false # DLSSG frame generation is not compatible with synthetic data generation rtx.hydra.mdlMaterialWarmup = true # start loading the MDL shaders needed before any delegate is actually created. omni.replicator.asyncRendering = false # Async rendering must be disabled for SDG exts."omni.kit.test".includeTests = ["*isaac*"] # Add isaac tests to test runner foundation.verifyOsVersion.enabled = false # disable the metrics assembler change listener, we don't want to do any runtime changes metricsAssembler.changeListenerEnabled = false # set the default ros bridge to disable on startup isaac.startup.ros_bridge_extension = "" # Disable for base application [settings."filter:platform"."windows-x86_64"] isaac.startup.ros_bridge_extension = "" [settings."filter:platform"."linux-x86_64"] isaac.startup.ros_bridge_extension = "" # menu styling [settings.exts."omni.kit.menu.utils"] logDeprecated = false margin_size = [18, 3] tick_spacing = [10, 6] margin_size_posttick = [0, 3] separator_size = [14, 10] root_spacing = 3 post_label_spaces = 6 color_tick_enabled = 0xFFFAC434 color_separator = 0xFF7E7E7E color_label_enabled = 0xFFEEEEEE menu_title_color = 0xFF202020 menu_title_line_color = 0xFF5E5E5E menu_title_text_color = 0xFF8F8F8F menu_title_text_height = 24 menu_title_close_color = 0xFFC6C6C6 indent_all_ticks = false show_menu_titles = true [settings.app] name = "Isaac-Sim" version = "5.1.0" versionFile = "${exe-path}/VERSION" content.emptyStageOnStart = true fastShutdown = true file.ignoreUnsavedOnExit = true font.file = "${fonts}/OpenSans-SemiBold.ttf" font.size = 16 gatherRenderResults = true # True to prevent artifacts in multiple viewport configurations, can be set to false for better performance in some cases hangDetector.enabled = true hangDetector.timeout = 120 player.useFixedTimeStepping = true settings.fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true? settings.persistent = true # settings are persistent for this app vulkan = true # Explicitly enable Vulkan (on by default on Linux, off by default on Windows) ### async rendering settings asyncRendering = false asyncRenderingLowLatency = false [settings.app.window] iconPath = "${isaacsim.simulation_app}/data/omni.isaac.sim.png" title = "Isaac Sim" [settings.app.python] # These disable the kit app from also printing out python output, which gets confusing interceptSysStdOutput = false logSysStdOutput = false [settings.app.renderer] resolution.height = 720 resolution.width = 1280 skipWhileMinimized = false # python app does not throttle sleepMsOnFocus = 0 # python app does not throttle sleepMsOutOfFocus = 0 # python app does not throttle [settings.app.viewport] defaultCamPos.x = 5 defaultCamPos.y = 5 defaultCamPos.z = 5 defaults.fillViewport = false # default to not fill viewport grid.enabled = true outline.enabled = true boundingBoxes.enabled = false show.camera=false show.lights=false [settings.telemetry] enableAnonymousAppName = true # Anonymous Kit application usage telemetry enableAnonymousData = true # Anonymous Kit application usage telemetry [settings.persistent] app.primCreation.DefaultXformOpOrder = "xformOp:translate, xformOp:orient, xformOp:scale" app.primCreation.DefaultXformOpType = "Scale, Orient, Translate" app.primCreation.typedDefaults.camera.clippingRange = [0.01, 10000000.0] # Meters default app.primCreation.DefaultXformOpPrecision = "Double" app.primCreation.DefaultRotationOrder = "ZYX" app.primCreation.PrimCreationWithDefaultXformOps = true app.stage.timeCodeRange = [0, 1000000] app.stage.upAxis = "Z" # Isaac Sim default Z up app.viewport.camMoveVelocity = 0.05 # Meters default app.viewport.gizmo.scale = 0.01 # Meters default app.viewport.grid.scale = 1.0 # Meters default app.viewport.camShowSpeedOnStart = false # Hide camera speed on startup app.omniverse.gamepadCameraControl = false # Disable gamepad control for camera by default exts."omni.anim.navigation.core".navMesh.config.autoRebakeOnChanges = false exts."omni.anim.navigation.core".navMesh.viewNavMesh = false physics.visualizationDisplayJoints = false # improves performance physics.visualizationSimulationOutput = false # improves performance physics.resetOnStop = true # Physics state is reset on stop renderer.startupMessageDisplayed = true # hides the IOMMU popup window resourcemonitor.timeBetweenQueries = 100 # improves performance simulation.defaultMetersPerUnit = 1.0 # Meters default omni.replicator.captureOnPlay = true [settings] ### async rendering settings omni.replicator.asyncRendering = false app.asyncRendering = false app.asyncRenderingLowLatency = false ### FSD app.useFabricSceneDelegate = true rtx.hydra.readTransformsFromFabricInRenderDelegate = true # disable replicator orchestrator for better runtime perf exts."omni.replicator.core".Orchestrator.enabled = false [settings.app.livestream] outDirectory = "${data}" # 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 # 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.physics] autoPopupSimulationOutputWindow = false updateToUsd = false updateVelocitiesToUsd = 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 # 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"