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[Isaac Sim 6.0] Update render settings for RT2 #4142

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9c980eb
Updates render settings for RT2
kellyguo11 Dec 4, 2025
3c7d01f
format
kellyguo11 Dec 4, 2025
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35 changes: 0 additions & 35 deletions apps/isaacsim_4_5/rendering_modes/xr.kit
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0 apps/isaacsim_4_5/extension.toml → apps/isaacsim_5/extension.toml
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29 changes: 24 additions & 5 deletions ...isaacsim_4_5/isaaclab.python.headless.kit → apps/isaacsim_5/isaaclab.python.headless.kit
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ keywords = ["experience", "app", "isaaclab", "python", "headless"]
app.versionFile = "${exe-path}/VERSION"
app.folder = "${exe-path}/"
app.name = "Isaac-Sim"
app.version = "4.5.0"
app.version = "5.1.0"

##################################
# Omniverse related dependencies #
Expand All @@ -28,6 +28,10 @@ app.version = "4.5.0"
"usdrt.scenegraph" = {}
"omni.kit.telemetry" = {}
"omni.kit.loop" = {}
# this is needed to create physics material through CreatePreviewSurfaceMaterialPrim
"omni.kit.usd.mdl" = {}
# this is used for converting assets that have the wrong units
"omni.usd.metrics.assembler.ui" = {}

[settings]
app.content.emptyStageOnStart = false
Expand Down Expand Up @@ -69,6 +73,12 @@ app.hydraEngine.waitIdle = false
# app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
omni.replicator.asyncRendering = false

### FSD
# this .kit file is used for headless, no-rendering cases. There won't be a scene delegate
# created, but setting useFSD to false here is done to not do full fabric population, but
# instead to minimal population
app.useFabricSceneDelegate = false

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

Expand All @@ -81,18 +91,24 @@ app.vulkan = true
# Set profiler backend to NVTX by default
app.profilerBackend = "nvtx"

# Disables rate limit in runloop
app.runLoops.main.rateLimitEnabled=false

# 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 = ""

# disable the metrics assembler change listener, we don't want to do any runtime changes
metricsAssembler.changeListenerEnabled = false

# 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/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/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" },
]
Expand Down Expand Up @@ -148,6 +164,8 @@ fabricUpdateTransformations = false
fabricUpdateVelocities = false
fabricUpdateForceSensors = false
fabricUpdateJointStates = false
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
fabricUseGPUInterop = true

# Performance improvement
resourcemonitor.timeBetweenQueries = 100
Expand All @@ -166,6 +184,7 @@ folders = [
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
"${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
"${app}/../../source", # needed to find extensions in Isaac Lab
]

Expand Down Expand Up @@ -197,6 +216,6 @@ enabled=true # Enable this for DLSS
# 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"
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
27 changes: 22 additions & 5 deletions ..._5/isaaclab.python.headless.rendering.kit → ..._5/isaaclab.python.headless.rendering.kit
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,12 @@ cameras_enabled = true
app.versionFile = "${exe-path}/VERSION"
app.folder = "${exe-path}/"
app.name = "Isaac-Sim"
app.version = "4.5.0"
app.version = "5.1.0"

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

# Disable print outs on extension startup information
# this only disables the app print_and_log function
Expand Down Expand Up @@ -78,6 +83,9 @@ app.updateOrder.checkForHydraRenderComplete = 1000
app.renderer.waitIdle=true
app.hydraEngine.waitIdle=true

# Forces serial processing for omni graph to avoid NCCL timeout hangs in distributed training
app.execution.debug.forceSerial = true

app.audio.enabled = false

# Enable Vulkan - avoids torch+cu12 error on windows
Expand All @@ -86,12 +94,18 @@ app.vulkan = true
# Set profiler backend to NVTX by default
app.profilerBackend = "nvtx"

# Disables rate limit in runloop
app.runLoops.main.rateLimitEnabled=false

# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

# disable the metrics assembler change listener, we don't want to do any runtime changes
metricsAssembler.changeListenerEnabled = 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/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/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" },
]
Expand All @@ -118,6 +132,8 @@ fabricUpdateTransformations = false
fabricUpdateVelocities = false
fabricUpdateForceSensors = false
fabricUpdateJointStates = false
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
fabricUseGPUInterop = true

# Register extension folder from this repo in kit
[settings.app.exts]
Expand All @@ -133,13 +149,14 @@ folders = [
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
"${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
"${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"
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
31 changes: 19 additions & 12 deletions apps/isaacsim_4_5/isaaclab.python.kit → apps/isaacsim_5/isaaclab.python.kit
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@ keywords = ["experience", "app", "usd"]
"isaacsim.robot.manipulators" = {}
"isaacsim.robot.policy.examples" = {}
"isaacsim.robot.schema" = {}
"isaacsim.robot.surface_gripper" = {}
"isaacsim.robot.wheeled_robots" = {}
"isaacsim.sensors.camera" = {}
"isaacsim.sensors.physics" = {}
Expand All @@ -39,7 +38,7 @@ keywords = ["experience", "app", "usd"]

# Isaac Sim Extra
"isaacsim.asset.importer.mjcf" = {}
"isaacsim.asset.importer.urdf" = {}
"isaacsim.asset.importer.urdf" = {version = "2.4.31", exact = true}
"omni.physx.bundle" = {}
"omni.physx.tensors" = {}
"omni.replicator.core" = {}
Expand All @@ -57,23 +56,20 @@ keywords = ["experience", "app", "usd"]
"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.stage_template.core" = {}
"omni.kit.telemetry" = {}
"omni.kit.tool.asset_importer" = {}
"omni.kit.tool.collect" = {}
Expand All @@ -88,10 +84,11 @@ keywords = ["experience", "app", "usd"]
"omni.kit.window.console" = {}
"omni.kit.window.content_browser" = {}
"omni.kit.window.property" = {}
"omni.kit.window.script_editor" = {}
"omni.kit.window.stage" = {}
"omni.kit.window.status_bar" = {}
"omni.kit.window.toolbar" = {}
"omni.physx.stageupdate" = {}
"omni.physics.stageupdate" = {}
"omni.rtx.settings.core" = {}
"omni.uiaudio" = {}
"omni.usd.metrics.assembler.ui" = {}
Expand Down Expand Up @@ -130,6 +127,9 @@ omni.replicator.asyncRendering = false # Async rendering must be disabled for SD
exts."omni.kit.test".includeTests = ["*isaac*"] # Add isaac tests to test runner
foundation.verifyOsVersion.enabled = false

# disable the metrics assembler change listener, we don't want to do any runtime changes
metricsAssembler.changeListenerEnabled = false

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

Expand Down Expand Up @@ -161,7 +161,7 @@ show_menu_titles = true

[settings.app]
name = "Isaac-Sim"
version = "4.5.0"
version = "5.1.0"
versionFile = "${exe-path}/VERSION"
content.emptyStageOnStart = true
fastShutdown = true
Expand Down Expand Up @@ -241,6 +241,10 @@ omni.replicator.asyncRendering = false
app.asyncRendering = false
app.asyncRenderingLowLatency = false

### FSD
app.useFabricSceneDelegate = true
rtx.hydra.readTransformsFromFabricInRenderDelegate = true

# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

Expand All @@ -251,7 +255,7 @@ outDirectory = "${data}"
###############################
[settings.exts."omni.kit.registry.nucleus"]
registries = [
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
{ name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
{ name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
]
Expand All @@ -274,6 +278,7 @@ folders = [
"${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
"${app}/../source", # needed to find extensions in Isaac Lab
"${app}/../../source", # needed to find extensions in Isaac Lab
]

Expand All @@ -291,11 +296,13 @@ fabricUpdateTransformations = false
fabricUpdateVelocities = false
fabricUpdateForceSensors = false
fabricUpdateJointStates = false
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
fabricUseGPUInterop = 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 = "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"
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
21 changes: 16 additions & 5 deletions ...saacsim_4_5/isaaclab.python.rendering.kit → .../isaacsim_5/isaaclab.python.rendering.kit
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,12 @@ cameras_enabled = true
app.versionFile = "${exe-path}/VERSION"
app.folder = "${exe-path}/"
app.name = "Isaac-Sim"
app.version = "4.5.0"
app.version = "5.1.0"

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

# Disable print outs on extension startup information
# this only disables the app print_and_log function
Expand Down Expand Up @@ -84,6 +89,9 @@ app.audio.enabled = false
# disable replicator orchestrator for better runtime perf
exts."omni.replicator.core".Orchestrator.enabled = false

# disable the metrics assembler change listener, we don't want to do any runtime changes
metricsAssembler.changeListenerEnabled = false

[settings.physics]
updateToUsd = false
updateParticlesToUsd = false
Expand All @@ -96,10 +104,12 @@ fabricUpdateTransformations = false
fabricUpdateVelocities = false
fabricUpdateForceSensors = false
fabricUpdateJointStates = false
### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
fabricUseGPUInterop = true

[settings.exts."omni.kit.registry.nucleus"]
registries = [
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
{ name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/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" },
]
Expand Down Expand Up @@ -128,13 +138,14 @@ folders = [
"${exe-path}/../isaacsim/extscache", # isaac cache extensions for pip
"${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
"${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"
persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
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