simulation/modules/IsaacLab/apps/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 = "3.0.0"

# 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 = "IsaacLab"
app.version = "3.0.0"

### async rendering settings
# omni.replicator.asyncRendering needs to be false for external camera rendering
omni.replicator.asyncRendering = false
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

### FSD
app.useFabricSceneDelegate = true
# Temporary, should be enabled by default in Kit soon
rtx.hydra.readTransformsFromFabricInRenderDelegate = true

# xr optimizations
xr.skipInputDeviceUSDWrites = true
'rtx-transient'.resourcemanager.enableTextureStreaming = false

[dependencies]
"isaaclab.python" = {}

# Required for XR instruction widget (CopyFabricPrim)
"omni.fabric.commands" = {}
"omni.kit.xr.system.openxr" = {}
"omni.kit.xr.bundle.generic" = {}

[settings.isaaclab]
# This is used to check that this experience file is loaded when using cameras
cameras_enabled = true

[settings]
app.xr.enabled = true
# Set profiler backend to NVTX by default
app.profilerBackend = "nvtx"

# xr settings
xr.ui.enabled = false
defaults.xr.profile.ar.anchorMode = "custom anchor"
# Enable AR by default
defaults.xr.activeProfile = "ar"
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
xr.openxr.components."isaacsim.kit.xr.teleop.bridge".enabled = true

# explicitly disable omni.kit.pip_archive to prevent conflicting dependencies
app.extensions.excluded = ["omni.kit.pip_archive", "omni.isaac.ml_archive", "isaacsim.pip.newton", "omni.warp.core"]

[settings.app.python]
# These disable the kit app from also printing out python output, which gets confusing
interceptSysStdOutput = false
logSysStdOutput = 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}/../extsInternal",  # isaac internal extensions
    "${exe-path}/../extscache",  # isaac cache extensions
    "${exe-path}/../extsPhysics",  # isaac physics extensions
    "${exe-path}/../isaacsim/exts",  # isaac extensions for pip
    "${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.persistent]
UJITSO.geometry = true
UJITSO.enabled = 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/6.0"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0"