Updates xr experience file by removing isaacsim.xr.openxr dep, and sets ar...

Updates xr experience file by removing isaacsim.xr.openxr dep, and sets ar profile "performance" (#401)

- Remove dep on isaacsim.xr.openxr since it has been replaced by
omni.kit.xr
- Set AR profile rendering settings to "performance" for improved single
GPU frame rate.

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

apps/isaaclab.python.xr.openxr.kit

@@ -28,7 +28,6 @@ renderer.gpuEnumeration.glInterop.enabled = true # Allow Kit XR OpenXR to render
 
 [dependencies]
 "isaaclab.python" = {}
-"isaacsim.xr.openxr" = {}
 
 # Kit extensions
 "omni.kit.xr.system.openxr" = {}
@@ -40,9 +39,9 @@ app.xr.enabled = true
 # xr settings
 xr.ui.enabled = false
 xr.depth.aov = "GBufferDepth"
-defaults.xr.profile.ar.renderQuality = "off"
 defaults.xr.profile.ar.anchorMode = "custom anchor"
 rtx.rendermode = "RaytracedLighting"
+persistent.xr.profile.ar.renderQuality = "performance"
 persistent.xr.profile.ar.render.nearPlane = 0.15
 xr.openxr.components."omni.kit.xr.openxr.ext.hand_tracking".enabled = true
 xr.openxr.components."isaacsim.xr.openxr.hand_tracking".enabled = true

source/isaaclab/docs/CHANGELOG.rst

@@ -373,7 +373,7 @@ Added
 
 
 0.39.0 (2025-04-01)
-~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~~~~~
 
 Added
 ~~~~~
@@ -391,6 +391,16 @@ Added
 * Added :meth:`~isaaclab.envs.mdp.observations.body_projected_gravity_b`
 
 
+0.37.4 (2025-05-12)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Remove isaacsim.xr.openxr from openxr experience file.
+* Use Performance AR profile for XR rendering.
+
+
 0.37.3 (2025-05-08)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/test/devices/test_oxr_device.py

@@ -19,7 +19,7 @@ from isaaclab.app import AppLauncher
 HEADLESS = True
 
 # Launch omniverse app.
-app_launcher = AppLauncher(headless=HEADLESS, kit_args="--enable isaacsim.xr.openxr")
+app_launcher = AppLauncher(headless=HEADLESS)
 simulation_app = app_launcher.app
 
 import numpy as np