# This experience must be used to run Isaac Lab with Isaac Sim 2023.1.1

[package]
title = "Isaac Lab Python"
description = "An app for running Isaac Lab with Isaac Sim 2023.1.1"
version = "2023.1.1"

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

#################
# Basic Kit App #
#################
[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 = "2023.1.1"

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

##################################
# Omniverse related dependencies #
##################################
[dependencies]

# The Main UI App
"omni.kit.uiapp" = {}
"omni.kit.renderer.core" = {}

# Livestream - OV Streaming Client
"omni.kit.livestream.native" = {version = "2.4.0", exact = true}
"omni.kit.streamsdk.plugins" = {version = "2.5.2", exact = true}

# Status Bar
"omni.kit.window.status_bar" = {}
"omni.stats" = {}
"omni.kit.telemetry" = {}

# Kit Menu
"omni.kit.menu.utils" = {}
"omni.kit.menu.file" = {}
"omni.kit.menu.edit" = {}
"omni.kit.menu.create" = {}
"omni.kit.menu.common" = {}
"omni.kit.menu.stage" = {}

"omni.kit.window.file" = {}
"omni.kit.context_menu" = {}

"omni.kit.selection" = {}
"omni.kit.stage_templates" = {}

# PhysX
"omni.physx.bundle" = {}
"omni.physx.tensors" = {}

# "omni.kit.search.service" = {}
"omni.kit.primitive.mesh" = {}

# Create Windows
"omni.kit.window.title" = {}
"omni.kit.widget.live" = {}
"omni.kit.window.stage" = {}
"omni.kit.widget.layers" = {}
"omni.kit.window.cursor" = {}
"omni.kit.window.toolbar" = {}
"omni.kit.window.commands" = {}

# New Viewport, load the default bundle of extensions
"omni.kit.viewport.bundle" = {}
"omni.kit.viewport.menubar.lighting" = {}
# Load the rendering extensions
# "omni.renderer" = { tag = "rtx" }
# Load the RTX rendering bundle
"omni.kit.viewport.rtx" = {}
# Load the Storm rendering bundle
"omni.kit.viewport.pxr" = {}

# Needed for Fabric delegate
"omni.resourcemonitor" = {}

# Additional Viewport features (legacy grid etc, HUD GPU stats)
"omni.kit.viewport.legacy_gizmos" = {}
"omni.kit.viewport.ready" = {}
"omni.hydra.engine.stats" = {}

"omni.rtx.settings.core" = {} # this is the new Render Settings 2.0

# "omni.kit.window.movie_capture" = { }

"omni.kit.profiler.window" = {}

"omni.kit.stage_column.variant" = {}
"omni.kit.stage_column.payload" = {}

# Viewport Widgets and Collaboration
# "omni.kit.viewport_widgets_manager" = {}
"omni.kit.collaboration.channel_manager" = {}

# "omni.kit.widgets.custom" = {}

# utils window
"omni.kit.widget.filebrowser" = {}
"omni.kit.window.filepicker" = {}
"omni.kit.window.content_browser" = {}

"omni.kit.window.stats" = { order = 1000 }

"omni.kit.window.script_editor" = {}
"omni.kit.window.console" = {}

"omni.kit.window.extensions" = {}

# browsers
"omni.kit.browser.sample" = {}
# "omni.kit.browser.asset" = {}
# "omni.kit.browser.asset_store" = {}
# "omni.kit.browser.asset_provider.local" = {}
# "omni.kit.browser.asset_provider.sketchfab" = {}
# "omni.kit.browser.asset_provider.turbosquid" = {}
# "omni.kit.browser.asset_provider.actorcore" = {}

# "omni.kit.window.environment" = {} # potentially increases startup times

# Material
# "omni.kit.window.material" = { }
# "omni.kit.graph.delegate.default" = { }
# "omni.kit.window.material_graph" = { }

# "omni.kit.window.usd_paths" = {}
# "omni.kit.window.preferences" = { order = 1000 } # so the menu is in the correct place

# "omni.kit.renderer.capture" = {}
# "omni.kit.thumbnails.usd" = {}
# "omni.kit.thumbnails.images" = {}

# bring all the property Widgets and Window
"omni.kit.window.property" = {}
"omni.kit.property.bundle" = {}
"omni.kit.property.layer" = {}

# Manipulator
"omni.kit.manipulator.prim" = {}
"omni.kit.manipulator.transform" = {}
"omni.kit.manipulator.viewport" = {}
# "omni.kit.manipulator.tool.mesh_snap" = {}

# Animation
# Needed to properly load navigation mesh
# "omni.anim.graph.schema" = {}
# "omni.anim.navigation.schema" = {}

# OmniGraph
# "omni.graph.bundle.action" = {}
# "omni.graph.window.action" = {}
# "omni.graph.window.generic" = {}
# "omni.graph.visualization.nodes" = {}

# Scene Visualization
"omni.usd.schema.scene.visualization" = {}
# "omni.scene.visualization.bundle" = {}

# Hotkeys
"omni.kit.hotkeys.window" = {}

# Needed for omni.kit.viewport.ready.viewport_ready
"omni.activity.profiler" = {}
"omni.activity.pump" = {}

"omni.kit.widget.cache_indicator" = {}


[settings]
renderer.active = "rtx"
exts."omni.kit.viewport.menubar.camera".expand = true # Expand the extra-camera settings by default
exts."omni.kit.window.file".useNewFilePicker = true
exts."omni.kit.tool.asset_importer".useNewFilePicker = true
exts."omni.kit.tool.collect".useNewFilePicker = true
exts."omni.kit.widget.layers".useNewFilePicker = true
exts."omni.kit.renderer.core".imgui.enableMips = true
exts."omni.kit.browser.material".enabled = false
exts."omni.kit.browser.asset".visible_after_startup = false
exts."omni.kit.window.material".load_after_startup = true
exts."omni.kit.widget.cloud_share".require_access_code = false
exts."omni.kit.pipapi".installCheckIgnoreVersion = true
exts."omni.kit.viewport.window".startup.windowName="Viewport" # Rename from Viewport Next
exts."omni.kit.menu.utils".logDeprecated = false

# app.content.emptyStageOnStart = false
app.file.ignoreUnsavedOnExit = true # prevents save dialog when exiting

# deprecate support for old kit.ui.menu
app.menu.legacy_mode = false
# use omni.ui.Menu for the MenuBar
app.menu.compatibility_mode = false
# Setting the port for the embedded http server
exts."omni.services.transport.server.http".port = 8211

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

exts."omni.kit.test".includeTests.1 = "*isaac*"

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

[settings.app.window]
title = "Isaac Sim Python"
hideUi = false
_iconSize = 256
iconPath = "${exe-path}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico"

# Fonts
[setting.app.font]
file = "${fonts}/OpenSans-SemiBold.ttf"
size = 16

[settings.exts.'omni.kit.window.extensions']
# List extensions here we want to show as featured when extension manager is opened
featuredExts = []

[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.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
app.hydraEngine.waitIdle = false
rtx.newDenoiser.enabled = true

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

# Disable the simulation output window popup
physics.autoPopupSimulationOutputWindow=false

### async rendering settings
omni.replicator.asyncRendering = false
app.asyncRendering = false
app.asyncRenderingLowLatency = false

### Render thread settings
app.runLoops.main.rateLimitEnabled = false
app.runLoops.main.rateLimitFrequency = 120
app.runLoops.main.rateLimitUsePrecisionSleep = true
app.runLoops.main.syncToPresent = false
app.runLoops.present.rateLimitFrequency = 120
app.runLoops.present.rateLimitUsePrecisionSleep = true
app.runLoops.rendering_0.rateLimitFrequency = 120
app.runLoops.rendering_0.rateLimitUsePrecisionSleep = true
app.runLoops.rendering_0.syncToPresent = false
app.runLoops.rendering_1.rateLimitFrequency = 120
app.runLoops.rendering_1.rateLimitUsePrecisionSleep = true
app.runLoops.rendering_1.syncToPresent = false
app.runLoopsGlobal.syncToPresent = false
app.vsync = false
exts.omni.kit.renderer.core.present.enabled = false
exts.omni.kit.renderer.core.present.presentAfterRendering = false
persistent.app.viewport.defaults.tickRate = 120
rtx-transient.dlssg.enabled = false

privacy.externalBuild = true

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

# Hang Detector
################################
# app.hangDetector.enabled = false
# app.hangDetector.timeout = 120

############
# Browsers #
############
exts."omni.kit.browser.material".folders = [
    "Base::http://omniverse-content-production.s3-us-west-2.amazonaws.com/Materials/Base",
    "vMaterials::http://omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/vMaterials_2/",
    "Twinbru Fabrics::https://twinbru.s3.eu-west-1.amazonaws.com/omniverse/Twinbru Fabrics/"
]

exts."omni.kit.window.environment".folders = [
    "https://omniverse-content-production.s3.us-west-2.amazonaws.com/Assets/Skies/2022_1/Skies",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Scenes/Templates",
]

exts."omni.kit.browser.sample".folders = [
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com//Samples"
]

exts."omni.kit.browser.asset".folders = [
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Vegetation",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/ArchVis/Commercial",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/ArchVis/Industrial",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/ArchVis/Residential",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Safety",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping",
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Storage",
]

exts."omni.kit.browser.texture".folders = [
    "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Vegetation",
]

############################
# Content Browser Settings #
############################
[settings.exts."omni.kit.window.content_browser"]
enable_thumbnail_generation_images = false # temp fix to avoid leaking python processes

#######################
# Extensions Settings #
#######################
[settings.exts."omni.kit.registry.nucleus"]
registries = [
	{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/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.exts."omni.kit.window.modifier.titlebar"]
titleFormatString = "  Isaac Sim  {version:${exe-path}/../SHORT_VERSION,font_color=0x909090,font_size=16} {separator} {file, board=true}"
showFileFullPath = true
icon.file = "${exe-path}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico"
icon.size = 256
defaultFont.name = "Arial"
defaultFont.size = 16
defaultFont.color = 0xD0D0D0
separator.color = 0x00B976
separator.width = 1
windowBorder.color = 0x0F0F0F
windowBorder.width = 2
colors.caption = 0x0F0F0F
colors.client = 0x0F0F0F
respondOnMouseUp = true
changeWindowRegion = 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}/../extscache",  # isaac cache extensions
    "${exe-path}/../extsPhysics",  # isaac physics extensions,
    "${app}", # needed to find other app files
    "${app}/../extensions", # needed to find extensions in Isaac Lab
]

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

######################
# Isaac Sim Settings #
######################
[settings.app.renderer]
skipWhileMinimized = false
sleepMsOnFocus = 0
sleepMsOutOfFocus = 0
resolution.width=1280
resolution.height=720

[settings.app.livestream]
proto = "ws"
allowResize = true
outDirectory = "${data}"

# default camera position in meters
[settings.app.viewport]
defaultCamPos.x = 5
defaultCamPos.y = 5
defaultCamPos.z = 5

################
# RTX Settings #
################
[settings.rtx]
translucency.worldEps = 0.005
raytracing.fractionalCutoutOpacity = false
hydra.enableSemanticSchema = true
# descriptorSets=60000
# reservedDescriptors=500000
# sceneDb.maxInstances=1000000

# Enable this for static scenes, improves visual quality
# directLighting.sampledLighting.enabled = true

[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 = 31887 # 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
physics.updateToUsd = true
physics.updateVelocitiesToUsd = true
physics.useFastCache = false
physics.visualizationDisplayJoints = false
physics.visualizationSimulationOutput = false
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.ngx]
enabled=true # Enable this for DLSS

########################
# Isaac Sim Extensions #
########################
[dependencies]
"omni.isaac.core" = {}
"omni.isaac.core_archive" = {}
"omni.pip.compute" = {}
"omni.pip.cloud" = {}
"omni.isaac.kit" = {}
"omni.isaac.ml_archive" = {}
"omni.kit.loop-isaac" = {}
"omni.isaac.utils" = {}
"omni.kit.property.isaac" = {}

"omni.isaac.cloner" = {}
"omni.isaac.debug_draw" = {}


# linux only extensions
[dependencies."filter:platform"."linux-x86_64"]
# "omni.isaac.ocs2" = {}

############################
# Non-Isaac Sim Extensions #
############################
[dependencies]
"omni.syntheticdata" = {}
"semantics.schema.editor" = {}
"semantics.schema.property" = {}
"omni.replicator.core" = {}
# "omni.importer.mjcf" = {}
# "omni.importer.urdf" = {}
