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ConstructTraining / apps /isaacsim_4_5 /isaaclab.python.rendering.kit
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##
# 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 = "2.3.0"
# That makes it browsable in UI with "experience" filter
keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
[dependencies]
# Isaac Lab minimal app
"isaaclab.python" = {}
# 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"