Sets up app files and settings for backwards compatibility (#467)

# Description

This PR makes the necessary app file and extension setting changes to
support backwards compatibility, but there are still changes required in
the code to have full backwards compatibility with Isaac Sim 4.5 that
will come in other PRs.

Running with Isaac Sim 4.5 requires passing --use_isaacsim_45.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Signed-off-by: AlvinC <alvincny529@gmail.com>
Signed-off-by: Tyler Lum <tylergwlum@gmail.com>
Signed-off-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Signed-off-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Shundo Kishi <syundo0730@gmail.com>
Co-authored-by: Sheikh Dawood <sabdulajees@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Gonglitian <70052908+Gonglitian@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Hongyu Li <lihongyu0807@icloud.com>
Co-authored-by: Jean-Francois-Lafleche <57650687+Jean-Francois-Lafleche@users.noreply.github.com>
Co-authored-by: Wei Jinqi <changshanshi@outlook.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: Kousheek Chakraborty <kousheekc@gmail.com>
Co-authored-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Co-authored-by: AlvinC <alvincny529@gmail.com>
Co-authored-by: Felipe Mohr <50018670+felipemohr@users.noreply.github.com>
Co-authored-by: AdAstra7 <87345760+likecanyon@users.noreply.github.com>
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>
Co-authored-by: Tyler Lum <tylergwlum@gmail.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <miguel.alonso@nfinite.app>
Co-authored-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: Ales Borovicka <aborovicka@nvidia.com>
Co-authored-by: nv-mm <mmagdics@nvidia.com>

apps/isaacsim_4_5/isaaclab.python.headless.kit

+##
+# 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 = "2.2.0"
+
+# 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 = "4.5.0"
+
+##################################
+# Omniverse related dependencies #
+##################################
+[dependencies]
+"omni.physx" = {}
+"omni.physx.tensors" = {}
+"omni.physx.fabric" = {}
+"omni.warp.core" = {}
+"usdrt.scenegraph" = {}
+"omni.kit.telemetry" = {}
+"omni.kit.loop" = {}
+
+[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
+
+# 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
+
+# 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 = ""
+
+# Extensions
+###############################
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/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
+
+# 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 = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"

apps/isaacsim_4_5/isaaclab.python.headless.rendering.kit

+##
+# 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 = "2.2.0"
+
+# 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 = "4.5.0"
+
+# 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
+
+app.audio.enabled = false
+
+# Enable Vulkan - avoids torch+cu12 error on windows
+app.vulkan = true
+
+# disable replicator orchestrator for better runtime perf
+exts."omni.replicator.core".Orchestrator.enabled = false
+
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/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
+
+# 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 = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"

apps/isaacsim_4_5/isaaclab.python.kit

+##
+# Adapted from: _isaac_sim/apps/isaacsim.exp.base.kit
+##
+
+[package]
+title = "Isaac Lab Python"
+description = "An app for running Isaac Lab"
+version = "2.2.0"
+
+# 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.surface_gripper" = {}
+"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" = {}
+"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.loop" = {}
+"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.edit" = {}
+"omni.kit.menu.file" = {}
+"omni.kit.menu.stage" = {}
+"omni.kit.menu.utils" = {}
+"omni.kit.primitive.mesh" = {}
+"omni.kit.property.bundle" = {}
+"omni.kit.raycast.query" = {}
+"omni.kit.stage_template.core" = {}
+"omni.kit.stagerecorder.bundle" = {}
+"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.stage" = {}
+"omni.kit.window.status_bar" = {}
+"omni.kit.window.toolbar" = {}
+"omni.physx.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
+
+# 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 = "4.5.0"
+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
+
+# 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/106/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
+
+# 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 = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"

apps/isaacsim_4_5/isaaclab.python.rendering.kit

+##
+# 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 Camera"
+description = "An app for running Isaac Lab with rendering enabled"
+version = "2.2.0"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
+
+[dependencies]
+# Isaac Lab minimal app
+"isaaclab.python" = {}
+
+# PhysX
+"omni.kit.property.physx" = {}
+
+# Rendering
+"omni.kit.material.library" = {}
+
+[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 = "4.5.0"
+
+# 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
+
+app.audio.enabled = false
+
+# disable replicator orchestrator for better runtime perf
+exts."omni.replicator.core".Orchestrator.enabled = false
+
+[settings.physics]
+updateToUsd = false
+updateParticlesToUsd = false
+updateVelocitiesToUsd = false
+updateForceSensorsToUsd = false
+outputVelocitiesLocalSpace = false
+useFastCache = false
+visualizationDisplayJoints = false
+fabricUpdateTransformations = false
+fabricUpdateVelocities = false
+fabricUpdateForceSensors = false
+fabricUpdateJointStates = false
+
+[settings.exts."omni.kit.registry.nucleus"]
+registries = [
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/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
+
+# 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 = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"

apps/isaacsim_4_5/isaaclab.python.xr.openxr.headless.kit

+##
+# Adapted from: apps/isaaclab.python.xr.openxr.kit
+##
+
+[package]
+title = "Isaac Lab Python OpenXR Headless"
+description = "An app for running Isaac Lab with OpenXR in headless mode"
+version = "2.2.0"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "usd", "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 = "4.5.0"
+
+[dependencies]
+"isaaclab.python.xr.openxr" = {}
+
+[settings]
+xr.profile.ar.enabled = 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
+]

apps/isaacsim_4_5/isaaclab.python.xr.openxr.kit

+##
+# Adapted from: _isaac_sim/apps/isaacsim.exp.xr.openxr.kit
+##
+
+[package]
+title = "Isaac Lab Python OpenXR"
+description = "An app for running Isaac Lab with OpenXR"
+version = "2.2.0"
+
+# That makes it browsable in UI with "experience" filter
+keywords = ["experience", "app", "usd"]
+
+[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 = "4.5.0"
+
+### async rendering settings
+omni.replicator.asyncRendering = true
+app.asyncRendering = true
+app.asyncRenderingLowLatency = true
+
+# For XR, set this back to default "#define OMNI_MAX_DEVICE_GROUP_DEVICE_COUNT 16"
+renderer.multiGpu.maxGpuCount = 16
+renderer.gpuEnumeration.glInterop.enabled = true # Allow Kit XR OpenXR to render headless
+
+[dependencies]
+"isaaclab.python" = {}
+"isaacsim.xr.openxr" = {}
+
+# Kit extensions
+"omni.kit.xr.system.openxr" = {}
+"omni.kit.xr.profile.ar" = {}
+
+[settings]
+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.render.nearPlane = 0.15
+
+# 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 = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.cloud = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"
+persistent.isaac.asset_root.nvidia = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5"

apps/isaacsim_4_5/rendering_modes/balanced.kit

+rtx.translucency.enabled = false
+
+rtx.reflections.enabled = false
+rtx.reflections.denoiser.enabled = true
+
+# this will be ignored when RR (dldenoiser) is enabled
+# rtx.directLighting.sampledLighting.denoisingTechnique = 0
+rtx.directLighting.sampledLighting.enabled = true
+
+rtx.sceneDb.ambientLightIntensity = 1.0
+
+rtx.shadows.enabled = true
+
+rtx.indirectDiffuse.enabled = false
+rtx.indirectDiffuse.denoiser.enabled = true
+
+# rtx.domeLight.upperLowerStrategy = 3
+
+rtx.ambientOcclusion.enabled = false
+rtx.ambientOcclusion.denoiserMode = 1
+
+rtx.raytracing.subpixel.mode = 0
+rtx.raytracing.cached.enabled = true
+
+# DLSS frame gen does not yet support tiled camera well
+rtx-transient.dlssg.enabled = false
+rtx-transient.dldenoiser.enabled = true
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 1 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
+# Avoids replicator warning
+rtx.pathtracing.maxSamplesPerLaunch = 1000000
+
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000

apps/isaacsim_4_5/rendering_modes/performance.kit

+rtx.translucency.enabled = false
+
+rtx.reflections.enabled = false
+rtx.reflections.denoiser.enabled = false
+
+rtx.directLighting.sampledLighting.denoisingTechnique = 0
+rtx.directLighting.sampledLighting.enabled = false
+
+rtx.sceneDb.ambientLightIntensity = 1.0
+
+rtx.shadows.enabled = true
+
+rtx.indirectDiffuse.enabled = false
+rtx.indirectDiffuse.denoiser.enabled = false
+
+rtx.domeLight.upperLowerStrategy = 3
+
+rtx.ambientOcclusion.enabled = false
+rtx.ambientOcclusion.denoiserMode = 1
+
+rtx.raytracing.subpixel.mode = 0
+rtx.raytracing.cached.enabled = false
+
+# DLSS frame gen does not yet support tiled camera well
+rtx-transient.dlssg.enabled = false
+rtx-transient.dldenoiser.enabled = false
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 0 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
+# Avoids replicator warning
+rtx.pathtracing.maxSamplesPerLaunch = 1000000
+
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000

apps/isaacsim_4_5/rendering_modes/quality.kit

+rtx.translucency.enabled = true
+
+rtx.reflections.enabled = true
+rtx.reflections.denoiser.enabled = true
+
+# this will be ignored when RR (dldenoiser) is enabled
+# rtx.directLighting.sampledLighting.denoisingTechnique = 0
+rtx.directLighting.sampledLighting.enabled = true
+
+rtx.sceneDb.ambientLightIntensity = 1.0
+
+rtx.shadows.enabled = true
+
+rtx.indirectDiffuse.enabled = true
+rtx.indirectDiffuse.denoiser.enabled = true
+
+# rtx.domeLight.upperLowerStrategy = 4
+
+rtx.ambientOcclusion.enabled = true
+rtx.ambientOcclusion.denoiserMode = 0
+
+rtx.raytracing.subpixel.mode = 1
+rtx.raytracing.cached.enabled = true
+
+# DLSS frame gen does not yet support tiled camera well
+rtx-transient.dlssg.enabled = false
+rtx-transient.dldenoiser.enabled = true
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
+# Avoids replicator warning
+rtx.pathtracing.maxSamplesPerLaunch = 1000000
+
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000

apps/isaacsim_4_5/rendering_modes/xr.kit

+rtx.translucency.enabled = true
+
+rtx.reflections.enabled = true
+rtx.reflections.denoiser.enabled = true
+
+rtx.directLighting.sampledLighting.denoisingTechnique = 5
+rtx.directLighting.sampledLighting.enabled = true
+
+rtx.sceneDb.ambientLightIntensity = 1.0
+
+rtx.shadows.enabled = true
+
+rtx.indirectDiffuse.enabled = true
+rtx.indirectDiffuse.denoiser.enabled = true
+
+rtx.domeLight.upperLowerStrategy = 4
+
+rtx.ambientOcclusion.enabled = true
+rtx.ambientOcclusion.denoiserMode = 0
+
+rtx.raytracing.subpixel.mode = 1
+rtx.raytracing.cached.enabled = true
+
+# DLSS frame gen does not yet support tiled camera well
+rtx-transient.dlssg.enabled = false
+rtx-transient.dldenoiser.enabled = true
+
+# Set the DLSS model
+rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto)
+
+# Avoids replicator warning
+rtx.pathtracing.maxSamplesPerLaunch = 1000000
+
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000

source/isaaclab/isaaclab/app/app_launcher.py

@@ -361,6 +361,17 @@ class AppLauncher:
                 " exceeded, then the animation is not recorded."
             ),
         )
+        # special flag for backwards compatibility
+        arg_group.add_argument(
+            "--use_isaacsim_45",
+            type=bool,
+            default=False,
+            help=(
+                "Uses previously version of Isaac Sim 4.5. This will reference the Isaac Sim 4.5 compatible app files"
+                " and will result in some features being unavailable. For full feature set, please update to Isaac Sim"
+                " 5.0."
+            ),
+        )
 
         # Corresponding to the beginning of the function,
         # if we have removed -h/--help handling, we add it back.
@@ -702,6 +713,10 @@ class AppLauncher:
         # If nothing is provided resolve the experience file based on the headless flag
         kit_app_exp_path = os.environ["EXP_PATH"]
         isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
+        # For Isaac Sim 4.5 compatibility, we use the 4.5 app files in a different folder
+        if launcher_args.get("use_isaacsim_45", False):
+            isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_4_5")
+
         if self._sim_experience_file == "":
             # check if the headless flag is set
             # xr rendering overrides camera rendering settings
@@ -755,6 +770,10 @@ class AppLauncher:
         if recording_enabled:
             if self._headless:
                 raise ValueError("Animation recording is not supported in headless mode.")
+            if launcher_args.get("use_isaacsim_45", False):
+                raise RuntimeError(
+                    "Animation recording is not supported in Isaac Sim 4.5. Please update to Isaac Sim 5.0."
+                )
             sys.argv += ["--enable", "omni.physx.pvd"]
 
     def _resolve_kit_args(self, launcher_args: dict):

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -16,6 +16,7 @@ from typing import TYPE_CHECKING
 import omni.log
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.simulation_manager import SimulationManager
+from isaacsim.core.version import get_version
 from pxr import PhysxSchema, UsdPhysics
 
 import isaaclab.sim as sim_utils
@@ -1377,7 +1378,7 @@ class Articulation(AssetBase):
         # process configuration
         self._process_cfg()
         self._process_actuators_cfg()
-        self._process_fixed_tendons()
+        self._process_tendons()
         # validate configuration
         self._validate_cfg()
         # update the robot data
@@ -1397,7 +1398,7 @@ class Articulation(AssetBase):
         # asset named data
         self._data.joint_names = self.joint_names
         self._data.body_names = self.body_names
-        # tendon names are set in _process_fixed_tendons function
+        # tendon names are set in _process_tendons function
 
         # -- joint properties
         self._data.default_joint_pos_limits = self.root_physx_view.get_dof_limits().to(self.device).clone()
@@ -1570,13 +1571,22 @@ class Articulation(AssetBase):
                 f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
 
-    def _process_fixed_tendons(self):
-        """Process fixed tendons."""
+    def _process_tendons(self):
+        """Process fixed and spatialtendons."""
         # create a list to store the fixed tendon names
         self._fixed_tendon_names = list()
         self._spatial_tendon_names = list()
         # parse fixed tendons properties if they exist
         if self.num_fixed_tendons > 0 or self.num_spatial_tendons > 0:
+            # for spatial tendons, check if we are using isaac sim 5.0
+            if self.num_spatial_tendons > 0:
+                isaac_sim_version = get_version()
+                # checks for Isaac Sim v5.0 as spatial tendons are only available since 5.0
+                if int(isaac_sim_version[2]) < 5:
+                    raise RuntimeError(
+                        "Spatial tendons are not available in Isaac Sim 4.5. Please update to Isaac Sim 5.0."
+                    )
+
             joint_paths = self.root_physx_view.dof_paths[0]
 
             # iterate over all joints to find tendons attached to them

source/isaaclab/setup.py

@@ -66,13 +66,15 @@ setup(
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     license="BSD-3-Clause",
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     packages=["isaaclab"],
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -388,7 +388,7 @@ def test_frame_offset_multi_tiled_camera(setup_camera):
     for i in range(num_tiled_cameras):
         image_before = image_befores[i]
         image_after = image_afters[i]
-        assert torch.abs(image_after - image_before).mean() > 0.03  # images of same color should be below 0.001
+        assert torch.abs(image_after - image_before).mean() > 0.02  # images of same color should be below 0.001
 
     for camera in tiled_cameras:
         del camera

source/isaaclab_assets/setup.py

@@ -25,11 +25,13 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     packages=["isaaclab_assets"],
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,

source/isaaclab_mimic/setup.py

@@ -50,10 +50,12 @@ setup(
     extras_require=EXTRAS_REQUIRE,
     license="Apache-2.0",
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,

source/isaaclab_rl/setup.py

@@ -66,14 +66,16 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     extras_require=EXTRAS_REQUIRE,
     packages=["isaaclab_rl"],
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,

source/isaaclab_tasks/setup.py

@@ -41,13 +41,15 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     install_requires=INSTALL_REQUIRES,
     dependency_links=PYTORCH_INDEX_URL,
     packages=["isaaclab_tasks"],
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,

tools/template/templates/extension/setup.py

@@ -32,12 +32,14 @@ setup(
     description=EXTENSION_TOML_DATA["package"]["description"],
     keywords=EXTENSION_TOML_DATA["package"]["keywords"],
     install_requires=INSTALL_REQUIRES,
-    license="MIT",
+    license="Apache-2.0",
     include_package_data=True,
-    python_requires=">=3.11",
+    python_requires=">=3.10",
     classifiers=[
         "Natural Language :: English",
+        "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
+        "Isaac Sim :: 4.5.0",
         "Isaac Sim :: 5.0.0",
     ],
     zip_safe=False,