Release Notes

2023.1.1

Highlights

  • General

    • Kit SDK 105.1.2

    • WebSocket live-streaming will be removed in the next version of Isaac Sim

    • Replicator Composer will be removed in the next version of Isaac Sim

    • omni.isaac.synthetic_utils will be removed in the next version of isaac sim in favor of omni.replicator

    • omni.isaac.shapenet will be removed in the next version of isaac sim

    • omni.isaac.urdf will be removed in the next version of isaac sim in favor of omni.importer.urdf

    • Fixes for security vulnerabilities: CVE-2023-49083

    • Added collider compatibility table

    • Added Joint gains tuning guide

  • New Robots

    • Added Franka Research 3 (FR3) manipulator

    • Renamed Carter V24 to Nova Carter

  • Sensors

    • RTX Lidar has corrected some outputs, including objectId, velocity and hitPointNormal

  • Isaac Core

    • Fix for USD joint sign convention used in joint limits, joint target positions/velocities, joint forces, etc;

      • If the arrangement of USD joint bodies (body0/body1) isn’t similar to the underlying physics kinematic tree hierarchy (parent/child), scalar properties undergo a sign inversion. Notably, for joint forces, a transformation is applied to ensure reporting in the USD joint body1 frame.

      • It is important to note that this adjustment may impact the behavior of existing user assets, particularly in cases where warnings related to the incorrect ordering of USD joint bodies have been overlooked.

    • Added get_assets_root_path_async()

    • Added On Physics Step node

  • ROS

    • Added ROS1 and ROS2 AckermannDriveStamped publisher and subscriber nodes

    • New ROS1/ROS2 Clock publisher and subscriber tutorials

  • Replicator

    • Added DataVisualizationWriter example writer to omni.replicator.isaac to write labeled annotator data to disk

    • Added custom event trigger example to Replicator → Useful Snippets

  • Gym

    • Added support for viewport recording during training/inferencing using gym wrapper class RecordVideo

    • Added video tutorial for extension workflow

    • Minor bug fixes and cleanup in OmniIsaacGymEnvs

  • Metro Sim (People, ORC, ORO)

    • First release of the Omni.Replicator.Character extension suite.

      • Designed to generate synthetic data across a variety of environments. It provides controls over environments, cameras, agents through the use of configuration and command files.

    • First release of the omni.replicator.object extension.

      • Description file based object simulation. Cameras, lights and geometry are defined as mutables that randomize per frame, while harmonizers are defined to coordinate randomization.

Extensions

  • omni.exporter.urdf

    • Added

      • Exporting sensor prim frames to URDF

      • Ability to set mesh path prefix

      • Optionally setting output to directory (URDF file name automatically set to match USD file name)

    • Fixed

      • Scaling bug when geometry prim is a child of Xform prim with scaling

      • Cylinder scaling issue

      • Joint frame alignment when child link transform is not identity

      • Exporting revolute joints with inf limits, export as continuous joints now

      • Too many root links

      • Velocity and effort limits always being set to zero

      • Large camera meshes added erroneously to URDF

      • Terminal output labeled as error even when export is successful

  • omni.isaac.asset_browser

    • Changed

      • Fix missing default icon

      • Update based on omni.kit.browser.asset-1.3.7

      • Update asset paths to 2023.1.1

  • omni.isaac.assets_check

    • Changed

      • Use get_assets_root_path_async()

  • omni.isaac.cloner

    • Fixed

      • Fixed error with GridCloner when offsets are passed

      • Add test case with position and orientation offsets for GridCloner

      • Fixed the order in which xformop is set while cloning. Earlier a set was passed instead of list.

  • omni.isaac.conveyor

    • Fixed

      • Error when Node starts for the first time if it doesn’t have a Texture translate attribute.

  • omni.isaac.core

    • Added

      • set_block_on_render and get_block_on_render to control waitIdle flag

      • added rot_matrices_to_quats method to torch utils

      • test for get_joint_position in test_articulation to catch the sign switch that happens when articulation joints have different body0 and body1 than expected.

    • Changed

      • Add more articulation metadata

      • Fix contact reporter API schema

      • Fix joint limits

      • Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.world (world) and omni.isaac.core.simulation_context (simulation_context)

      • Add get_assets_root_path_async()

      • Add get_full_asset_path_async()

      • Add get_server_path_async()

      • /app/runLoops/main/rateLimitEnabled in standalone workflow will be set to False

      • Apply codespell to fix common misspellings and typos

      • Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.objects (capsule, cone, cuboid, cylinder, sphere, ground_plane)

      • Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.prims (xform_prim, xform_prim_view, rigid_prim, rigid_prim_view, rigid_contact_view, geometry_prim, geometry_prim_view, base_sensor)

      • Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.articulations (articulation, articulation_view) and omni.isaac.core.robots (robot, robot_view)

      • Removed create_hydra_texture; use rep.create.render_product from omni.replicator.core instead.

      • Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.utils (bounds, carb, constants, extension, mesh, physics, prim, stage)

      • Update asset paths to 2023.1.1

    • Fixed

      • set_live_sync method

      • quats_to_rot_matrices under torch utils to handle 1 dimensional input and batched

      • pad method under torch utils

      • Forward the density parameter to the RigidPrimView instance in RigidPrim class constructor

      • Fix argument typo when applying a physics material to a ground plane object

      • Add missing worker thread parsing from sim config

      • Fix indices used to set the GeometryPrimView collision API properties

      • Fix the indices comparison that prevented applying several physical materials to a GeometryPrimView object

      • Use articulation view metadata to get DOF types given specific DOF names

      • Remove unexpected keyword argument when printing the stage via the stage utils

      • renamed utils.torch.rotations quat_to_rot_matrices to quats_to_rot_matrices to be consistent with numpy, originally named function is now a redirect function

  • omni.isaac.core_nodes

    • Added

      • On Physics Step Node

    • Fixed

      • Annotator unit test due to replicator update

  • omni.isaac.debug_draw

    • Added

      • Check for valid prim path, so the debug drawing nodes will issue an error instead of crash with invalid path

  • omni.isaac.dofbot

    • Changed

      • switched gripper deltas them because of a change in physX regarding flipped signs.

  • omni.isaac.dynamic_control

    • Fixed

      • Issue with prim getting removed at random

  • omni.isaac.examples

    • Changed

      • Force stop bin filling once gripper constraint breaks

      • Add small force to induce gripper breaking if it doesn’t happen on bin pieces falling

      • Increase quadruped example physics rate to 400hz

    • Fixed

      • Fixed issue with screwing in nut and bolt demo

      • Improved accuracy of placement and rotation and increased rotation speed

      • Moved nut screwing to start with 3rd nut with slight improvement to centering

  • omni.isaac.gym

    • Added

      • Add APIs for recording viewport during training

    • Changed

      • Improve test coverage

      • Update outdated MT tests to use extension workflow

  • omni.isaac.kit

    • Changed

      • Set /app/player/useFixedTimeStepping to False since the loop runner controls stepping

    • Fixed

      • set_live_sync method

  • omni.isaac.motion_generation

    • Added

      • Add RMPflow configs for FR3 robot

    • Changed

      • Moved wheel base pose controller to wheeled robots extension

  • omni.isaac.occupancy_map

    • Fixed

      • Updated api docs to mention correct return types.

  • omni.isaac.ocs2

    • Changed

      • Disable tests in docker

  • omni.isaac.quadruped

    • Changed

      • Added torque clamp to the quadruped control in response to physics change

      • Behavior changed, investigating performance issue

    • Fixed

      • Add the missing import statement for the IMUSensor

  • omni.isaac.range_sensor

    • Fixed

      • Issue where ReadLidar nodes ticking twice on the same set of data if run twice per frame

  • omni.isaac.robot_assembler

    • Fixed

      • Fixed breaking test cases that loaded local USD assets with references to robots on Nucleus

  • omni.isaac.ros2_bridge

    • Added

      • ROS2 Ackermann Subscriber and Publisher nodes using non-default ROS2 AckermannDriveStamped message type.

      • Option to publish a full scan from RTX lidar

      • APIs to dynamically load ROS2 libraries at runtime depending on what messages are being created. Will only be used for select non-default ROS 2 messages.

    • Fixed

      • Removed conflicting TF Publishers from standalone ROS2 Moveit tutorial

      • Queue Size (QOS depth) settings now enforced when creating subscriber nodes.

      • Added unit tests for variable queue sizes in subscribers

  • omni.isaac.ros_bridge

    • Added

      • ROS1 Ackermann Subscriber and Publisher nodes

      • Option to publish a full scan from RTX lidar

  • omni.isaac.sensor

    • Added

      • ZED X sensor to menu item

    • Changed

      • IsaacCreateRTXLidarScanBuffer transformPoints defaults to false

      • RtxSensorCpuIsaacCreateRTXLidarScanBuffer doTransform defaults to true

    • Fixed

      • Issue where ReadLidar nodes ticking twice on the same set of data if run twice per frame

      • aperture setters and getters in Camera.py

      • Camera Matrix calculation in set_matching_fisheye_polynomial_properties method in Camera.py

      • Camera class to work with torch backend

      • Contact Sensor can now measure force correctly when the rigid body is not its direct parent

  • omni.isaac.surface_gripper

    • Changed

      • Location on the Menu reverted back to from Create->Isaac->End Effector

      • Location on the Menu changed from Create->Isaac->End Effector to Create->Isaac->Robot.

  • omni.isaac.synthetic_recorder

    • Changed

      • removed overwrite/increment/timestamp options from recorder, it is now handled by the backend which is not exposed

    • Fixed

      • fixed bug if a non valid json file is provided to the custom writer

  • omni.isaac.synthetic_utils

    • Changed

      • disabling unit tests that are failing due to deprecated interfaces

  • omni.isaac.universal_robots

    • Added

      • Random piece orientation on drop

    • Changed

      • Minor tweaks in bin filling position so pieces don’t hit robot when falling

  • omni.isaac.urdf

    • Changed

      • Added deprecation alert. This extension has been deprecated, please use omni.importer.urdf instead.

  • omni.isaac.utils

    • Changed

      • Removed Factory Franka

    • Fixed

      • April tag menu

      • Loading Robotiq hand into a path that doesn’t start with a number

  • omni.isaac.wheeled_robots

    • Changed

      • OgnAckermannSteering node receives inputs in SI units.

      • OgnAckermannSteering node now accepts speed and acceleration as desired forward motion inputs.

      • OgnAckermannSteering node uses front axel steering angle as input rather than curvature

      • Moved wheel base pose controller from motion generation extension

    • Fixed

      • _wheeled_dof_indices vs _wheel_dof_indices typo

  • omni.kit.property.isaac

    • Changed

      • Prim Custom Data field can support arrays now

  • omni.replicator.isaac

    • Added

      • DataVisualizationWriter writing annotattions as overlays on top of image data

      • DOPE and YCBWriter will write to disk only if there is valid data (target(s) is not fully occluded in view)

    • Fixed

      • Change initialization of s3 BackendDispatch for DOPE writer

      • Added overwrite=True by default to DOPE and YCV Writer backends

      • DataVisualizationWriter parameters if None and writer metadata export

2023.1.0-hotfix.1

Highlights

  • General

    • Fixes for security vulnerabilities: CVE-2023-38545, CVE-2023-5590

Extensions

  • omni.isaac.examples

    • Fixed

      • Changed end offector offset for Franka Stacking Controller in robo party example to [0, 0, 0] instead of [0, 0, -0.015]

  • omni.isaac.ros2_bridge

    • Fixed

      • Added fix for foxy backend to match humble backend

  • omni.isaac.ros_bridge

    • Fixed

      • Logging levels for roscore helper

  • omni.isaac.ui

    • Fixed

      • Error when user setup function creates a new stage

      • Error when using load button due to physics context initialization issue

  • omni.kit.loop-isaac

    • Changed

      • Update to latest loop runner code from kit-sdk and set default settings

2023.1.0

Highlights

  • General

  • ROS

    • Update packages to python 3.10

    • ROS2 Bridge now enabled by default

    • ROS2 bridge can dynamically load based on the workspace sourced

    • Developers can source their Humble or Foxy workspaces before running Omniverse Isaac Sim

    • Developers can leverage their ROS 2 installation to write and compile C++ OmniGraph Nodes

    • Sample workflow for using ROS 2 custom messages with Python:rclpy

    • Navigation with RTX lidar

    • ROS2 Single and Multi robot navigation examples using the new Nova Carter robot

    • ROS2 Humble support for Windows

    • Reduced GPU-CPU memory copies to improve performance

  • New robots

    • Evobot from Fraunhofer

    • Manipulators: Fanuc CRX-10iA, Festo Cobot, KUKA KR 210 L150, Techman TM12

    • Mobile base: Nova Carter

  • Sensors

    • New Sensors

    • RGBD: Realsense, Orbbec, Hawk, Sensing

    • RTX-Lidar: Zvision, Ouster, Hesai, Sick, Velodyne, SlamTec

    • RTX-lidar in windows

    • Camera class

  • Manipulation

    • Mimic joint support in URDF importer and Lula kinematics, inverse kinematics, and trajectory generator

    • Robot Assembler for composing robots and end effectors

  • Replicator

    • Randomization in simulation (manipulator use case)

    • Randomization in simulation (mobile base use case)

    • Offline data generation with config files (YAML/JSON) support

    • Writer and annotator augmentations

    • Isaac Sim / USD API based randomizations

  • Warehouse Builder

    • Use new modular warehouse assets

  • Gym

    • Tensorized soft body API and RL example

    • Additional RL examples for Factory tasks

    • New RL examples with Warp

    • Extension workflow for RL training and inferencing

    • Support for multi-node RL training

  • Cortex

    • Extension for palletizing demo

    • Visualization of logical states

  • Live Streaming

    • WebSocket streaming client is deprecated

  • Container

    • Added telemetry support for container

    • Updated base container to Ubuntu 22.04

  • Documentation

    • Isaac Sim Documentation Audits. Audit & reg-org Isaac Sim docs to make it useful for first time users.

    • Updated Motion Generation tutorials to use standalone extensions instead of standalone scripts

Extensions

  • omni.exporter.urdf

    • Added new omni.exporter.urdf extension.

  • omni.isaac.app.selector

    • Changed

      • Added a note that “Headless WebSocket” app variant is now deprecated and will be removed in a future release.

      • Set ROS bridge field to blank so users can pick if they want to start with ROS1/ROS2

      • Source bash when starting sim so env vars are properly set

  • omni.isaac.app.setup

    • Added

      • Added “ReplicatorYAML” menu item.

    • Removed

      • Removed F1 and F3 hotkeys for opening help documents.

    • Changed

      • Updated contents of “Help” menu.

      • Added deprecation label for the “Replicator -> Composer” menu item.

      • Removed redundant settings that were already set in .kit file.

    • Fixed

      • Fixed an issue that prevented fullscreen and “Hide UI” modes from working.

  • omni.isaac.articulation_inspector

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

      • Replaced use of get_joint_efforts() with get_measured_joint_efforts() since the former had been deprecated and is now removed.

  • omni.isaac.asset_browser

    • Changed

      • Updated asset paths to those for the 2023.1.0 release.

      • Added “Materials” folder to the asset browser.

  • omni.isaac.camera_inspector

    • Added new omni.isaac.camera_inspector extension.

  • omni.isaac.cloner

    • Added

      • Exposed API for retrieving clone transorms from GridCloner

      • Add unregister when physics replication is disabled

      • Added option to specify mode of cloning (inherit vs. copy)

    • Changed

      • When positions and orientations are None, the cloner keeps the Xform translation and orientation instead of using identity

      • Makes the method replicate_physics public to allow users to have control over it

  • omni.isaac.conveyor

    • Changed

      • added standard out fail pattern for the expected no prim found edge case for the ogn test

      • Changed conveyor prim node input type from bundle to target

      • Update to kit 105.1, build system update, omni.usd.utils -> omni.usd, usdPhysics -> pxr/usd/usdPhysics

  • omni.isaac.core

    • Added

      • Add missing GPU collision stack size API in physics context

      • Add function create_viewport_for_camera() to viewports.py

      • get_local_pose and get_world_pose in xforms utils which will go through fabric if the prim exists there, otherwise it will read it from USD

      • Added SdfShapeView class for handling shapes signed-distance function

      • Added a new API for reading detailed contact data

      • Added support for Warp backend for rigid classes

      • Added core wrappers for physx and physics.tensors deformable body APIs

      • Added new APIs for joint force sensors and dof effort sensors

      • Added OBB functions compute_obb and compute_obb_corners to utils.bounds

      • Added OBB tests

      • euler_to_rot_matrix returns the pre multiplicative matrix and not the post multiplicative one as before and in numpy format intead of Gf.Rotation.

      • added extrinsic argument to torch rotation utils: compute_rot, quat_from_euler_xyz, get_euler_xyz, euler_angles_to_quats

      • added methods to torch rotation utils: quat_to_rot_matrices, matrices_to_euler_angles

      • added extrinsic argument to numpy rotation utils: quats_to_euler_angles, euler_angles_to_quats

      • added extrinsic argument to rotation utils: euler_angles_to_quat, quat_to_euler_angles, matrix_to_euler_angles, euler_to_rot_matrix

    • Changed

      • Changed get_world_pose fabric util to check for the attribute before getting it to avoid warnings

      • Added warnings to OgnIsaacReadFilePath

      • Updated view port unit test to accept identical fx and fy

      • XFormPrimView get_local_poses and get_world_poses uses the new methods available in xforms utils to query the poses from Fabric and USD alike

      • timeline is stopped if initialize simulation context is called

      • Split World reset_async into scene construction and simulation start.

      • Add function get_transform_with_normalized_rotation to utils.transformation.py

      • Function returns transformation matrix after removing scale factor

      • Update asset paths to 2023.1.0

    • Fixed

      • Correctly set GPU pipeline when it is missing from SimConfig

      • Propagate physX to Fabric when stepping physX and kit seperatly

      • Articulation Root mismatch with the default state in ArticulationView

      • Fixed a bug in a rigid_prim_view unit test

      • Fixed gpu device parsing.

      • Added gpu flushing as a physics callback to handle the extension workflow and the standalone one alike.

      • Removed the destructor calls from SimulationContext and World for possible bugs concerning them being Singeltons.

      • GeometryPrimView.is_collision_enabled to read values set through USD and not the class

      • GeometryPrimView.get_physics_visual_materials typo to use physics material rather than visual material

      • None in numpy arrays in current numpy version 1.25.2 gets converted to nan, propagated this change to ArticulationController.apply_action

      • Fixed the __new__ method in the SimulationContext class to work for inherited class.

      • Updated utils.viewports.set_camera_view to check both x and y of the position and target

      • Add default values for World transform attributes when fetching fabric in _get_world_pose_transform_w_scale method

      • Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (setting and getting intrinsics in viewports utils)

      • Crash when initializing world if is_playing was true

      • Fixed memory leak in ArticulationView, RigidPrimView and SimulationContext stemming from tensor api views

      • Fixed minor typo in articulation view

      • Fixed the order of parsing of the stage in the physics context warm start operation

      • set_camera_view now works when the camera is directly above or directly below the target (x and y positions are equal)

      • Issues related to Kit 105.1 update

      • UsdShaderConnecatbleAPI explicit for OmniGlass and PreviewSurface constructors

      • Renamed flatcache to fabric (enable_flatcache -> enable fabric in PhysicsContext) and sim_params dict key use_flatcache -> use_fabric

      • Extension omni.physx.flatcache renamed to omni.physx.fabric

      • Schema attributes moved from CLoth API to Particle API in ClothPrimView class

      • SimulationContext sets TimeCodesPerSecond attribute and the timeline’s target framrate to the rendering frequency to account for the decoupling of stage updates and app updates.

      • set_prop_val move from omni.usd.utils to omni.usd

  • omni.isaac.core_archive

    • Removed

      • boto3, s3transfer to omni.pip.compute

      • scipy, pyyaml to omni.pip.compute

      • botocore, urllib3, charset-normalizer as they are already in omni.kit.pip_archive

    • Changed

      • Removed unused omni.kit.pipapi dependency

  • omni.isaac.core_nodes

    • Added

      • Added tracking for the number of physics step

      • IsaacReadTimes node

      • get_sim_time_at_time

      • get_sim_time_monotonic_at_time

      • get_system_time_at_time

      • IsaacReadTimesAOV node template

      • IsaacReadTimes node template

      • Support for custom distortion type/values on a camera to read camera info node

    • Removed

      • unused writer and node template attachment systems

      • IsaacReadSystemTime node

      • swhFrameTime input/output from IsaacConvertRGBAToRGB node

    • Changed

      • Read file node will return False if file path does not exist or is invalid

      • Add enabled flag to create render product node

      • Added a default noop node to SDG pipeline helper nodes so that the graph is not deleted on stop

      • added stdout fail pattern for the expected no prim found edge case for the ogn test

      • Changed omnigraph prim from bundle to target for OgnIsaacComputeOdometry, OgnIsaacArticulationController, OgnIsaacCreateRenderProduct, OgnIsaacSetCameraOnRenderProduct

      • Use Replicator Annotator class for nodes that can provide data

      • Point Cloud node returns width and height of data

      • RGBA and Depth to PCL nodes use raw ptrs instead of arrays to improve perf

      • Update to kit 105.1, build system update

      • IsaacArticulationController targetPrim now optional

      • getSimulationTimeAtSwhFrame now getSimulationTimeAtTime with rational time

      • getSimulationTimeMonotonicAtSwhFrame now getSimulationTimeMonotonicAtTime with rational time

      • getSystemTimeAtSwhFrame now getSystemTimeAtTime with rational time

      • [SENSOR NAME]IsaacSimulationGate nodes to [RENDERVAR]IsaacSimulationGate to match synthetic data standard

      • deprecated get_sim_time_at_swh_frame

      • deprecated get_sim_time_monotonic_at_swh_frame

      • deprecated get_system_time_at_swh_frame

    • Fixed

      • ReadTimes node not passing execution state properly

      • Fixed camera info is empty bug in test_camera

      • Import error in OgnIsaacGetViewportRenderProduct

      • Added time code settings for test_physics_num_steps

      • Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (DepthToPointCloud and IsaacReadCameraInfo nodes)

  • omni.isaac.cortex

    • Added

      • __str__ methods for Df and Dfb classes

    • Fixed

      • omni.isaac.kit dependency

      • Conversion from Rotation matrix Quaternion uses direct method

  • omni.isaac.cortex.sample_behaviors

    • Added new omni.isaac.cortex.sample_behaviors extension.

  • omni.isaac.cortex_sync

    • Fixed

      • Prevents messages to be sent when their content is null

  • omni.isaac.debug_draw

    • Added

      • doTransform to DebugDrawPointCloud node, set to false it ignores the input transform

      • xPrim Axis Visualzier node

      • xPrim Radius Visualizer node

    • Changed

      • added stdout fail pattern for the expected no prim found edge case for the ogn test

      • Added testMode and removed depthTest (it did nothing) from DebugDrawPointCloud node.

      • Changed prim input type from bundle to target for xPrim Axis and Radius visualizer

      • rename width to size for point cloud debug node to prevent auto connection when using in replicator pipelines

      • pass width vector by reference.

      • Simplified DebugDrawPointCloud internals.

      • DebugDrawPointCloud Node updated to work with dataPtr/bufferSize inputs.

      • DebugDrawPointCloud Node updated to auto connect with synthetic data/replicator nodes.

  • omni.isaac.dynamic_control

    • Changed

      • Update to kit 105.1, update build system

      • set_time_codes_per_second in set_physics_frequency

    • Fixed

      • Fixed joints on the root of an articulation are treated as a special type of internal articulation to support fixed base.

      • Getting the type for the first fixed joint on the root link of an articulation will return none now

      • Use USD apis to interact with the first fixed joint on the root of an articulation.

  • omni.isaac.examples

    • Added

      • Cortex Samples

    • Removed

      • Moved Cortex Behaviors to omni.isaac.cortex.sample_behaviors

    • Fixed

      • Collision groups and num_bolts for nut and bolt extension

      • Changed end offector offset in pick and place examples using Franka to [0, 0, 0] instead of [0, 0, -0.015]

      • Fixed quadruped example error after reset or stop

      • Incorrect scaling factor in Omnigraph Keyboard example

      • Physics/lighting error caused by 100x scale in cube size and camera position

      • Error in nut+bolt example due to USD schema changes

      • Missing cortex dependency

      • Fix for Nut and Bolt Demo Windows Bug

  • omni.isaac.examples_nodes

    • Changed

      • Changed robot prim type from bundle to target

      • Update to kit 105.1

      • make targetPrim on IsaacPickPlaceController node optional

  • omni.isaac.extension_templates

    • Added

      • Added limitations to special characters that are considered acceptible in an extension title

      • Added XYPlot to “UI Component Library Template”

      • Added “Status Frame” to Extension Template Generator to give feedback to the user to guide their usage. Feedback includes verification that their templates were generated properly.

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

    • Fixed

      • Fixed bug in Template generator on Windows where user could specify a file path ending in “/”.

      • Fixed bug in Loaded Scenario Template where XFormPrim no longer accepts an Sdf.Path

      • Fixed bug where Configuration Tooling Template could cause a crash in Kit 105.1

      • The crash was caused by attempting to initialize Articulation on all stage events. The fix is to subscribe specifically to the ASSETS_LOADED stage event.

      • Subscriptions to STOP/PLAY timeline events in the Configuration Tooling Template have been removed, as they didn’t acheive anything when running Kit 105.1

      • Extension templates now use the extension name to generate python module paths to prevent clashing python modules. Previously, all modules were named “scripts” and you could not enable multiple extension templates at once.

  • omni.isaac.gain_tuner

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.gym

    • Added

      • Base RLTask and domain randomization utils are now part of omni.isaac.gym

      • Include web browser clients for livestream

      • Add automated inferencing tests

      • Add missing SAC and Factory tests

      • Add multi-GPU tests

    • Changed

      • Enable fabric in app file since updateToUsd is set to False

      • Add device ID to cuda device

      • Move domain randomization util back to OIGE

      • Keep lightweight interface for RLTask

      • Use async calls for pre and post physics steps in MT workflow

      • Allow passing app file as argument to VecEnvBase

      • Update app files for gym

      • Redesign MT env for extension workflow

      • Update interface from gym to gymnasium

      • Added explicit omni.kit.pipapi dependency

      • Skip replicator wait for complete on shutdown to avoid hang

    • Fixed

      • Fix Windows tests pip install error

      • Close app if sim is terminated

      • Handle ctrl+c events on shutdown

  • omni.isaac.kit

    • Added

      • Faulthandler enabled to print callstack on crash

    • Changed

      • Add flag to SimulationApp close to skip replicator wait for complete

    • Fixed

      • Missing comma in sync load options

      • various linter issues

      • app framework not working in docker/root environments

      • simulation app startup warning

      • Fix potential error on Kit shutdown when Replicator capture on play is enabled

  • omni.isaac.lula

    • Changed

      • Upgraded Lula from release 0.8.2 to release 0.9.1. This new version includes a major overhaul of inverse kinematics (IK), improving performance and robustness via many performance optimizations and the addition of a BFGS solver used to refine the solution produced by the existing cyclic coordinate descent (CCD) solver. The names of certain parameters in the CyclicCoordDescentIkConfig struct have changed, breaking backward compatibility. This update also includes the fix for a bug that could affect CCD convergence and the addition of “mimic joint” support throughout.

      • Added “[Lula]” prefix to all Lula log messages.

    • Fixed

      • Added a workaround for a DLL loading issue under Windows that manifested when using the new “FastImporter” in Omniverse Kit 105.

  • omni.isaac.lula_test_widget

    • Changed

      • Updated Controllers due to changes to motion generation ArticulationTrajectory

  • omni.isaac.merge_mesh

    • Changed

      • Update to kit 105.1, omni.usd.utils -> omni.usd

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.mjcf
    • Changed

      • Deprecating omni.isaac.mjcf, extension renamed to omni.importer.mjcf

  • omni.isaac.ml_archive

    • Changed

      • Added version to omni.pip.torch dependency

      • Removed unused omni.kit.pipapi dependency

      • no longer depend on omni.pip.torch

  • omni.isaac.motion_generation

    • Added

      • Add Fanuc CRX10IAL rmpflow configs with corresponding test case

      • Add Kuka KR210 rmpflow configs with corresponding test case

      • Update function in test cases that ensures deterministic behavior corresponding to moving to Kit 1.05

      • Add RMPflow config for Techman TM12 robot

      • Added support for timestamped Lula c-space trajectory generation with corresponding test cases.

    • Changed

      • Breaking Change: Updated ArticulationTrajectory, PathPlannerVisualizer, and ArticulationKinematics to use ArticulationSubset.make_articulation_action() This will result in ArticulationActions being returned that have fewer dimensions because they are not padded with Nones

      • Made stronger changes to IK interface to expose every property available in the Lula IK solver.

      • Made minimal internal changes to IK interface for compatibility with Lula 0.9.0.

      • Increase threshold on RRT test

      • Update RRT tests to use LulaTrajectoryGenerator to ensure that the robot Articulation more closely follows the ideal RRT path.

    • Fixed

      • Updated path of Kuka KR210 robot in test case to match update to Nucleus Server

      • lula.TaskSpaceTrajectoryGenerator.compute_task_space_trajectory_from_path_spec() was not able to handle lula composite path specs

      • Fixed robot loading in Trajectory Generator test cases to use add_reference_to_stage() instead of open_stage()

      • Fixed a bug in LulaKinematicsSolver that had resulted in set_descent_termination_delta() having no effect.

      • Add light to stages in all motion generation test cases because Kit 105.1 no longer has a default stage light

      • add_block function in motion_policy tests no longer waiting a frame before teleporting the block. The single frame of collision was causing the robot in the test cases to explode.

      • Broken test for RRT fixed by creating a more conservative robot description for Franka with spheres inflated by 5%.

  • omni.isaac.occupancy_map

    • Added

      • Checkbox to use USD triangle geometry instead of physx approx for occupancy map generation. Useful for generating occupancy maps for PhysX vs RTX lidar.

    • Changed

      • Update to kit 105.1, update build system

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.ocs2

    • Changed

      • Updated ocs2 prebundle for kit 105.1

  • omni.isaac.onshape

    • Changed

      • Use pip_prebundle instead of runtime installation of pip packages

      • Added explicit omni.kit.pipapi dependency

      • Update to kit 105.1, omni.usd.utils -> omni.usd

    • Fixed

      • Support for documents with Variable Studio

      • Automatically download when part configuration changes

      • Referenced assets would fail to import correctly if the user didn’t have direct access to the original document.

      • Joints limits defined by configuration or variable studio would fail to import correctly.

  • omni.isaac.partition

    • Changed

      • Update to kit 105.1, update build system

  • omni.isaac.physics_inspector

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.physics_utilities

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.proximity_sensor

    • Changed

      • Update to kit 105.1, omni.usd.utils -> omni.usd

  • omni.isaac.quadruped

    • Changed

      • Eliminated dependency on “bezier” python package. Behavior is unchanged.

    • Fixed

      • Fixed robot articulation bug after stop or reset

  • omni.isaac.range_sensor

    • Added

      • get_prim_data, returns the prim path for each lidar hit, use this to access semantic data on a prim

      • Lidar now tracks time at which each beam was traced. (Bug 4143606)

      • OgnIsaacReadLidarBeams provides beam times as output. (Bug 4143606)

    • Removed

      • get_semantic_data returns an empty array

    • Changed

      • Renamed Create > Isaac > Sensor > Lidar to PhysX Lidar

      • Output of IsaacReadLidarPointCloud changed from pointCloudData to data

      • Added standard out fail pattern for the expected no prim found edge case for the ogn test

      • Changed lidar prim types from bundle to target

      • Update to kit 105.1

      • usd 22.11 schema inheritance

      • pxr::RangeSensorSchemaUltrasonicArray renamed pxr::RangeSensorUltrasonicArray

      • pxr::RangeSensorSchemaUltrasonicFiringGroup renamed pxr::RangeSensorUltrasonicFiringGroup

      • pxr::RangeSensorSchemaUltrasonicEmitter renamed pxr::RangeSensorUltrasonicEmitter

      • pxr::RangeSensorSchemaLidar renamed pxr::RangeSensorLidar

      • pxr::RangeSensorSchemaGeneric renamed pxr::RangeSensorGeneric

      • pxr::RangeSensorSchemaRangeSensor renamed pxr::RangeSensorRangeSensor

    • Fixed

      • Fixed blackness in sensor examples

      • app update event subscribers in examples are created even when not using example

  • omni.isaac.robot_assembler

    • Added new omni.isaac.robot_assembler extension.

  • omni.isaac.robot_benchmark

    • Changed

      • Update Golden Values in tests due to Kit version 105.1

    • Fixed

      • Import order issue due to code formatting

  • omni.isaac.robot_description_editor

    • Changed

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

  • omni.isaac.ros2_bridge

    • Added

      • Added enable flag for the lidar and camera helper

      • Improved description for the frame ID for the camera and lidar helper

      • Add menu item for Isaac ROS VSLAM tutorial

      • Tests for JointState Publisher

    • Changed

      • Made several warnings into print and log statements

      • Load internal ROS2 libs when ROS2 is not sourced

      • Print warning telling user how to source ROS2 to use internal libs with rclpy

      • load system rclpy, fallback onto internal rclpy if its not found

      • Re-written to use rclc APIs

      • User must source their local ROS2 workspace in the terminal before starting isaac sim

      • Foxy and humble are supported

      • The ROS_DISTRO env variable is used to determine what ROS backend to use

      • The separate Humble bridge extension has been removed

      • added stdout fail pattern for the expected no prim found edge case for the ogn test

      • Changed test_camera test to expect identical fx and fy as vertical aperture is computed from horizontal aperture.

      • Changed omnigraph targetPrim types from bundle to target

      • Image and PCL publishers to use ptrs instead of arrays when possible to reduce memory copies

      • Update to kit 105.1

      • rename synthetic data writer templates to match rendervar names

      • Disable extension if rclpy cannot load

      • Set ROS2 Context node to read ROS_DOMAIN_ID from env vars by default

    • Fixed

      • Windows message for setting PATH

      • rclpy not working in script editor

      • Transform tree node can accept multiple target prims as input

      • missing ros2 libs when running using internal libs

      • windows startup issues

      • rclpy not working on windows

      • clock subscriber not properly getting time

      • error when shutting down extension

      • properly handle case where ROS2 bridge carb plugin did not startup correctly

      • Add default values for World transform attributes when fetching fabric in computeWorldXformNoCache function used in processAllFrames

      • Pixel are square in 105.1 Vertical aperture is not used, and based off of horizontal

      • Joint efforts not being applied in joint state subscriber

      • Added fix for foxy backend to match humble backend

      • CameraInfo publisher now includes identity Rectification matrix

      • Joint State Subscriber supports input state messages with only one mode of drive specified

      • camera noise example errors

      • Moveit Tutorial had incorrect OG input name

      • Bug with ROS2 windows loading internal libs

      • JointState Publisher sign correction when a joint’s parents are in reversed order

  • omni.isaac.ros_bridge

    • Added

      • Removed context field from OgnROS1RtxLidarHelper OG node

      • Added enable flag for the lidar and camera helper

      • Improved description for the frame ID for the camera and lidar helper

      • Sync and async versions of checking for rosmaster

      • Tests for JointState Publisher

    • Changed

      • Added standard out fail pattern for the expected no prim found edge cases for the ogn test

      • Changed test_camera test to expect identical fx and fy as vertical aperture is computed from horizontal aperture.

      • Changed targetPrim datatype from bundle to target in omnigraph

      • Image and pcl nodes support gpu/cpu ptr data

      • Image and PCL publishers to use ptrs instead of arrays when possible to reduce memory copies

      • renamed wait_for_rosmaster to wait_for_rosmaster_async

      • Update to kit 105.1

      • add lib locations to PYTHONPATH

      • rename synthetic data writer templates to match rendervar names

    • Fixed

      • Transform tree node can accept multiple target prims as input

      • CUDA error in PCL publisher

      • Semantic publisher not correctly publishing bbox, semantics, instances

      • Add default values for World transform attributes when fetching fabric in computeWorldXformNoCache function used in processAllFrames

      • Pixel are square in 105.1 Vertical aperture is not used, and based off of horizontal

      • Bug in Joint Subscriber when using effort commands

      • CameraInfo publisher now includes identity Rectification matrix

      • Moveit Tutorial had incorrect OG input name

      • JointState Publisher sign correction when a joint’s parents are in reversed order

  • omni.isaac.scene_blox

    • Added

      • omni.isaac.scene_blox.grid_utils.config - Maintains global RNG.

    • Changed

      • Updates all modules to use newly-added global RNG, enabling replicability by setting seed.

  • omni.isaac.sensor

    • Added

      • numEchos, numChannels, and numTicks output to IsaacReadRTXLidarData

      • depthRange output to IsaacReadRTXLidarData

      • IsaacPrintRTXLidarInfo outputs largest velocity length

      • IsaacCreateRTXLidarScanBuffer node outputs all possible lidar data based on output flags on node.

      • Support, samples for OpenCV calibration models

      • Sensing GMSL2 RGBD sensors

      • transformPoints setting on IsaacCreateRTXLidarScanBuffer to enable correct world transformed points.

      • Velodyne and ZVISION RTX lidar config files.

      • Sick_TiM781 lidar config file.

      • testMode to IsaacPrintRTXRadarInfo

      • Writers for radar point cloud node

      • Effort sensor standalone example

      • Sensor buffer size test for effort sensor and IMU

      • Added menu items for more RTX Lidar sensor configs

      • Changed isaac sensor node prim from bundle to target type

      • Add function to camera.py to scrap all Camera objects in the scene

      • Added IsaacCreateRTXLidarScanBuffer Node

      • Changed contact sensor and IMU node prim from bundle to target type

      • docstrings to Camera class for functions adding annotators

      • Added support for ros and usd camera axes in get_world_pose, get_local_pose, set_world_pose, set_local_pose.

      • Added Effort Sensor

      • supported_annotators property

      • Add unit tests for Camera class to test get_point_cloud(), get_depth(), get_rgb()

      • Add following functions to Camera class

      • get_point_cloud()

      • get_depth()

      • get_rgb()

      • added get_sensor_reading function

      • Added RGBD sensors to Create > Isaac > Sensors menu

      • RTX Sensors to Windows

      • WriterIsaacReadRTXLidarData Synthetic Data Writer

      • RtxSensorCpuIsaacReadRTXLidarData Synthetic Data Template

      • Added filter width attributes to the imu sensor for adjusting noise

      • Added unit test for imu sensor filter, and repeated imu sensor readings

      • get_render_product_path to camera class

      • An existing render product path can be specified for the camera helper class

      • bounding_box_3d annotator to camera class

      • Test Mode for PrintRTXLidarInfo node.

      • synthetic data templates for Noop, RtxSensorCpuIsaacPrintRTXLidarInfo, and TestIsaacPrintRTXLidarInfo

      • TemplateRtxLidarDebugDrawPointCloud Synthetic Data template that mirrors the RtxLidarDebugDrawPointCloud writer.

    • Removed

      • RtxRadarGetPrimLocalToWorldTransform

      • IsaacRenderVarToCpuPointer, use omni.syntheticdata.SdRenderVarPtr instead.

    • Changed

      • changed IU names for CreateRTXLidarScanBuffer outputs to be more user friendly.

      • set default RXT sensor space to be the same as isaac-sim so rotations in IsaacSensorCreateRtxLidar make sense

      • updated data acquisition callback for Camera objects to be on the next frame event

      • Used frameTime annotator instead of the dispather node inputs for better accuracy in the data acquisition callback

      • Moved initializing render products to the initialize method in Camera to reduce overhead and decoupling the usage of pose utils and render product related methods

      • RGBD menu updated to include manufacturer sub-menu

      • Updated usd paths for Sensing assets

      • Changed base prim type for sensors from Camera to Xform (real camera sensor should be inside of the default prim)

      • IsaacComputeRTXLidarFlatScan now works with single emitter lidar configs like RPLIDAR_S2E

      • Added Kannala Brandt and Rational Polynomial tests for the camera properties test

      • Updated USD path for NVIDIA Hawk RGBD sensor

      • The IMU now gets the transform from world directly.

      • IMU can have intermediate parents that are non rigid body.

      • IMU can measure or ignore gravitational acceleration via read_gravity flag

      • The layout of the add sensors menu.

      • on CreateRTXLidarScanBuffer returnsPerScan output to numReturnsPerScan

      • Added standard out fail pattern for the expected no prim found edge case for the ogn test

      • Cleaned up IsaacComputeRTXLidarPointCloud, no intended functional changes.

      • RtxSensorCpuIsaacComputeRTXRadarPointCloud template to Annotator

      • Radar Point Cloud creator now gets transform from render_product

      • changed PrintRTX templates to Writers

      • Effort sensor omnigraph node update sensor params

      • Unified input param names for get_sensor_reading across sensors

      • RTX point cloud node returns width and height of buffer

      • Convert RTX templates to annotators

      • store and destroy internaly created renderproduct

      • get_current_frame() now accepts optional argument to return deepcopy of data

      • RTX Nodes updated to work with dataPtr/cudaDeviceIndex/bufferSize inputs and outputs.

      • RTX Nodes updated to auto connect with synthetic data/replicator nodes.

      • RTX Node and DebugDrawPointCloud templates and writers updated to auto connect with synthetic data/replicator nodes.

      • Changed sensor reading behavior that prohibit interpolation when the sensor frequency is higher than physics frequency

      • Uses data interpolated at previous sensor measurement period when it’s lower than physics frequency for the IMU sensor and nearest physics step data for the contact sensor

      • Deprecated get_sensor_readings, get_sensor_sim_reading, get_sensor_num_reading for IMU Sensor and Contact Sensor

      • Changed orientation measurement to be the orientation of the IMU sensor rather than the parent prim

      • Changed contact sensor logic to process sensor measurement every step instead of on call

      • Updated ant sensor samples to use the new API

      • Updated python wrapper and removed callbacks.

      • Location of default and temp lidar config files set to ${app}/../data/sensors/lidar/

      • IsaacPrintRTXLidarInfo works with changed rtx lidar data

      • IsaacReadRTXLidarData outputs match changed rtx lidar data

      • If /app/runLoops/main/rateLimitFrequency is not set Frequency goes to -1, and all frames are captured

      • IsaacPrintRTXLidarInfo node now prints prim paths and return data for first named prim hits.

      • Update to kit 105.1

      • RTX Lidar/Radar Nodes cleanup

      • Location of default and temp lidar config files set to ${app}/../data/lidar/

      • Removed pxr::Simulation Gate from Rtx[Lidar|Radar]DebugDrawPointCloud writers

      • renamed pxr::IsaacSensorSchemaIsaacBaseSensor to pxr::IsaacSensorIsaacBaseSensor

      • renamed pxr::IsaacSensorSchemaIsaacContactSensor to pxr::IsaacSensorIsaacContactSensor

      • renamed pxr::IsaacSensorSchemaIsaacImuSensor to pxr::IsaacSensorIsaacImuSensor

      • get_all_camera_objects() now ensures that camera names are unique

      • Updated assets to use carter v2.4

      • Changed sensor type member names to adhere to naming conventions, inContact to in_contact

    • Fixed

      • Fixed WriterReadRTXLidarData Synthetic Data writer so it sets the render_product_path correctly.

      • Fixed elevation output for ComputeRTXLidarPointCloud node.

      • Fixed bug with ReadRTXLidarData node output when using keepOnlyPositiveDistance.

      • Add the allowedToken metadata for the cameraProjectionType attribute in cameras if it wasn’t set already.

      • Fixed bug with horizontal resolution divison

      • Fixed contact sensor sample

      • ComputeRTXLidarFlatScan now uses lidar config for more accurate output

      • IsaacComputeRTXLidarFlatScan range projected to 0 elevation

      • IMU and contact sensor read omnigraph nodes can now support parents from multiple levels up.

      • Scale issues with Orbbec RGBD sensors

      • RtxLidarDebugDrawPointCloudBuffer writer to use correct default transform

      • RTX Lidar Menu setting wrong config parameter on sensor prim

      • Added force threshold unit test for the contact sensor, now contact forces smaller than the min threshold will be treated as no contact

      • CreateRTXLidarScanBuffer works when input data wraps around the output buffer

      • CreateRTXLidarScanBuffer works on Solid State Lidar

      • Improved unit test stability

      • keepOnlyPositiveDistance now works on CreateRTXLidarScanBuffer node

      • Sensor buffer bug for effort sensor and IMU

      • Vertical Aperture used from reading the horizonal aperture usd property and multiplying it by resolution ratio to conform to the square pixels asumption in place. (Camera class)

      • RTX lidar class not returning data

      • Fixed divisible by zero error in IMU linear interpolation

      • Removed reading pairs from the IMU sensor to use the buffer directly

      • Error when removing an annotator that had not been added yet

      • Fixed index out of bound error for the read IMU and contact sensor nodes

      • Imu frequency to downtime calculation has been fixed

      • Bug causing the data frame to stop updating in the camera class over extended periods of time

      • Missing connection for IsaacComputeRTXLidarPointCloud node

      • removed extra frame transformation in the LidarRtx wrapper

      • changed physX lidar tests and samples to use Carter V1

      • Realsense D455 menu

  • omni.isaac.shapenet

    • Changed

      • Deprecation warning to UI and shapenet_convert

      • Added explicit omni.kit.pipapi dependency

      • Modified extension to use ScrollingWindow wrapper since ui.Window in Kit 105.1 no longer supports scrolling by default.

    • Fixed

      • Remove explicit certifi dependency and use omni.kit.pip_archive

  • omni.isaac.surface_gripper

    • Changed

      • Updated ogn node to prevent issue where it would only call for close on first attempt.

      • Automatically move gripper origin out of collision body, with a warning to tell how much to push it forward

      • Updated ogn node prims types from bundle to ogn

  • omni.isaac.synthetic_recorder

    • Added

      • custom names for render products

      • render products are destroyed after each recording

      • select all and toggle all buttons for writer annotator parameters

    • Changed

      • increased render product max resolution to 16kx8k

    • Fixed

      • omni.pip.cloud dependency is needed for replicator.core deps

      • load_config checks for empty json files

  • omni.isaac.synthetic_utils

    • Changed

      • deprecated in favor of omni.replicator.core, omni.syntheticdata and omni.isaac.sensor

  • omni.isaac.tests

    • Added

      • Joint effort test, with pure usd joints and articulation joints

      • omni.anim.people extension startup test

      • Added Test Cases that cause segfaults in the current build of Isaac Sim

      • Added Test Case to check if Sim will freeze when opening a USD stage 100 times

    • Removed

      • Moved multi-cam utility snippet to standalone_examples/omni.isaac.snippets/

    • Changed

      • Changed test accel, test spin, and test circle thresholds for the carter v1, v2 and jetbot

      • Changed unit tests as the prim types of omnigraph nodes have been changed from bundle to target

      • Update to kit 105.1, omni.usd.utils renamed omni.usd

      • Refactor and fix broken tests

      • Combined and cleaned up tests

      • use set_target_prims from core nodes

    • Fixed

      • Fixed drive_goal_carter_v2 tests to use the correct timecode setting

      • Added timecode to stage for test_stage_up_axis and test_stage_units

      • Fixed articulation_drives_opposite.usd file errors

      • Fixed broken mobile robot tests

  • omni.isaac.ui

    • Added

      • Added ScrollingWindow UI wrapper now that Kit 105.1 windows do not automatically have a scrollbar.

      • Added test cases for UI widget wrappers

      • Added test cases for UI Core Connectors

      • Added UIElementWrapper XYPlot with significantly more useful plotting utility than the base omni.ui.Plot

    • Changed

      • Update build_header() function to use constant colors

    • Fixed

      • Fixed possible errors in UI Plotting Tool where x_min is set arbitrarily close to x_max beyond what was a hard-coded constant.

      • Fixed possible errors in UI Plotting Tool that can be caused by spamming updates to violate x_max > x_min on X axis. Fixed error when floats are overflowed, which allowed x_min to equal x_max for high numbers

      • Added extra frame of waiting when using LoadButton and ResetButton after core.World.reset(). The extra frame resolves possible differences in rendered object position and queried position.

      • Fixed unused on event function for string builder

      • Fixed small bugs found in UI widget wrappers

      • Enforce argument types in setter functions for UI Widget Wrappers by casting [int,float,bool] args to their required type explicitly. This handles undesirable behavior that arises when numpy types such as np.float are passed instead of primitive types. For example, the FloatField displays the value 0.0:np.float as 1.0.

  • omni.isaac.unit_converter

    • Fixed

      • UsdLux api change from Light to LightApi

  • omni.isaac.urdf

    • Changed

      • Deprecating omni.isaac.urdf, renaming it to omni.importer.urdf

  • omni.isaac.utils

    • Added

      • getCameraPrimFromRenderProduct function

      • Added new robots to Create -> Isaac -> Robots menu

      • Carter V2.4 asset path, removed Carter V2 and V2.3

      • Renamed Carter V2.4 Nova Carter

    • Changed

      • updated Create > Isaac > Robots menu

      • Update to kit 105.1, omni.usd.utils renamed omni.usd

    • Fixed

      • Updated path of Kuka KR210 robot to match update to Nucleus Server

      • Updated name of Kuka KR210 robot in Create menu.

      • Broken asset paths

  • omni.isaac.version

    • Fixed

      • Scan for test modules instead of importing them

      • Docs and docstrings

      • Fixed closing of parsed file for reading the version

  • omni.isaac.wheeled_robots

    • Added

      • Ackermann Steering OmniGraph node

    • Changed

      • wheeled robot class can now accept a relative path from the default prim to the robot prim when the robot is not the default prim

    • Fixed

      • Changed robot prim types from bundle to target in Omnigraph

      • Kit 105.1 update

      • use omni.usd instead of omni.usd.utils for get_world_transform_matrix

      • Differential controller will not ignore 0s as max speed inputs.

      • Differential controller now resets on simulation Stop

  • omni.kit.loop-isaac

    • Changed

      • Update to kit 105.1, pybind11 header locations

    • Fixed

      • Crash on exit due to threading race condition

  • omni.kit.property.isaac

    • Changed

      • Update to kit 105.1

      • python 3.11 super().__init__ added

  • omni.pip.cloud

    • Added new omni.pip.cloud extension.

  • omni.pip.compute

    • Added new omni.pip.compute extension.

  • omni.replicator.isaac

    • Added

      • register_pose_annotator() to DOPEWriter and YCBVideoWriter

      • setup_writer() to DOPEWriter and YCBVideoWriter

      • Functions were originally in standalone_examples/replicator/offline_pose_generation/offline_pose_generation.py

      • Moved into dope_writer.py and ycb_video_writer.py

    • Changed

      • Improved pytorch writer performance

      • Update to kit 105.1

      • removed swhFrameNumber from Pose and Dope nodes

    • Fixed

      • Fix error when AOVs return data on different devices

      • test_pytorch_writer adding the num_frames to run_until_complete_async due to possible off-by-one frame issue

      • Fixes for physics APIs

      • Fixes for updated replicator API

  • omni.usd.schema.isaac

    • Changed

      • Direct inheritance for IsA schema IsaacContactSensor, IsaacImuSensor, Lidar, UltrasonicArray, Generic

      • Updated for USD 22.11 and Kit 105.1.

      • Using omni-isaacsim-schema as dependency

2022.2.1

Tutorials

  • Updated ROS2 MoveIt tutorial

  • Extension Templates for python extensions.

  • Links to writing custom C++ extensions tutorials

  • Custom python/C++ omnigraph nodes

  • Deprecated ROS Migration Tutorial from Sim 2021.2.1 and Isaac Sim 2022.2.0

  • Reorganized “Advanced Tutorials”

Highlights

Basic UI for Composer

Surface Materials added for RTX Lidar

Examples Extension:

  • Added vibrating table feature and extra bolts to Franka Nut and Bolt demo

Omniverse Isaac Gym Environments

  • Added Factory Nut/Bolt Pick environment and SAC Ant/Humanoid environments

  • Added support for docker and live stream, along with multi-GPU training

  • Fixed run-time material randomization affecting friction and restitution. There was previously a bug that prevented run-time updates of friction and restitution parameters during simulation. This has now been fixed in Isaac Sim 2022.2.1.

  • Fixed a bug in the contact reporting APIs that may have caused incorrect values to be returned as contact forces on the GPU

Omni.Anim.People:

  • Reduced steps for setting up characters by automating attaching behavior scripts and anim.graph.

  • New spawn command introduced for characters. Allows a simulation to be tied to only the command file and not a USD.

  • Navigation API changes based on feedback from users.

  • Added a new command text box as an alternative to provide commands from within the App.

  • Revamped UI.

Orbit:

  • Support for skrl library for reinforcement learning

  • Added utility to convert URDF to USD using command line arguments

  • Fixed issue with setting camera pose in ROS convention. Added support for other camera models offered by Replicator

Cortex

  • Cleanup: docstring, comments, type hints, remove unused functions/files.

  • Convert all monitors to use add_monitors() API in examples.

  • DfContext converted to DfRobotApiContext (base class) and DfBasicContext (instantiation).

  • Backward compatible API update to CortexObjectsRos and CortexSimObjectsRos to fix hard coded in_coords.

Isaac Replicator

  • Simplified SD Recorder code using newer Replicator API functionalities

  • Added a basic UI for Composer to view/preview the generated scenarios

Omni.isaac.extension_templates

  • UI tool under Isaac Utils -> Generate Extension Templates to download python extension templates locally

  • Extension Templates significantly reduce the complexity of building a custom UI application in Isaac Sim.

Omni.isaac.ui.element_wrappers

  • Created a set of UI element wrappers in omni.isaac.ui that significantly reduce the complexity of making a UI-based extension in Isaac Sim that aesthetically matches other extensions

  • Available wrappers are shown in the extension template “UI Component Library”

Other

  • Ubuntu 18.04 is no longer supported.

  • Isaac Sim ROS1, ROS2 workspaces moved to <https://github.com/NVIDIA-Omniverse/IsaacSim-ros_workspaces>. They are still in the 2022.2.1 release package and will be removed in the next major 2023.x release.

Extensions

  • omni.isaac.app.selector

    • Added

      • Added dropdown menu for selecting ROS bridge to enable on startup.

  • omni.isaac.app.setup

    • Changed

      • Added setting to enable ROS bridge on startup.

      • Updated to force a couple of required OmniGraph settings on startup.

      • Updated link to forums.

      • Enabled tests.

  • omni.isaac.articulation_inspector

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.asset_browser

    • Changed

      • Updated default asset paths to those for the 2022.2.1 release.

      • Added “Sensors” folder.

  • omni.isaac.assets_check

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.conveyor

    • Changed

      • Updated default asset path.

    • Fixed

      • Fixed UI regression where selected track card was not updated correctly.

      • Updated tests to use Fabric for getting PhysX updates.

      • Fixed error message when generating UI with image URL and destroing element before image finished loading.

      • Created dedicated hidden scope for conveyor instead of using /Render.

      • Removed unnecessary C++ OGN files from extension.

      • Fixed onclick_fn warning.

  • omni.isaac.core

    • Added

      • Added joint efforts to the get_applied_action() method in ArticulationView and Articulation (was returning None previously).

      • Added texture_translate option to OmniPBR class.

      • Added destroy_all_viewports() utility function.

    • Changed

      • Made omni.kit.viewport.window and omni.kit.viewport.utility optional dependencies.

      • Updated default asset paths to those for the 2022.2.1 release.

    • Fixed

      • Fixed minor issues in cloth prims.

      • Fixed several unit test errors and warnings.

      • Fixed warnings about no hydra render context when running tests.

      • Fixed warning about SimulationContext and World needing reinitialization after new stage creation so that the warning only appears if they were previously initialized.

  • omni.isaac.core_nodes

    • Added

      • Added BaseWriterNode for nodes that have to attach and detach writers.

      • Added interface for caching and retrieving handles.

    • Fixed

      • Fixed issue where pressing pause would reset classes derived from BaseResetNode.

      • Added missing fisheye parameters to OgnIsaacReadCameraInfo node.

      • Updated RGBAToRGB node so it passes buffer size and SWH frame number.

      • Updated core nodes so that each only subscribes to the type of stage event it needs.

      • Removed unnecessary C++ ogn files from extension.

  • omni.isaac.cortex

    • Changed

      • Updated extension configuration so that omni.isaac.cortex python module is exposed on startup.

    • Fixed

      • Fixed examples so that they use the explicit context types DfBasicContext or DfRobotApiContext in place of DfContext.

      • Converted all monitor additions in behavior to use the built-in add_monitors() function.

      • Fixed a bug in CortexGripper.step() affecting the case where the optional command.speed parameter is set to None.

      • Added comments and type hints, and performed some general cleanup.

      • Removed df_behavior_watcher.py file (no longer used).

      • Removed unused cortex_task.py file.

  • omni.isaac.cortex_sync

    • Fixed

      • Updated extension configuration so that omni.isaac.cortex_sync python module is exposed on startup.

      • Updated CortexObjectsRos and CortexSimObjectsRos to allow user specification of in_coords (with defaults for backward compatibility).

      • Fixed an issue where CortexControlRos joint states callback was being queried for dof_names before robot was initialized.

      • Added additional type hints, comments, and docstrings.

      • Removed some unused utilities.

  • omni.isaac.debug_draw

    • Fixed

      • Fixed crash triggered when trying to draw without a valid renderer.

  • omni.isaac.demos

    • Fixed

      • Fixed issue with bin releasing at beginning of UR10 palletizing sample.

      • Fixed onclick_fn warning.

  • omni.isaac.diff_usd

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.dynamic_control

    • Fixed

      • Added isaac::nameOverride attribute, for use when multiple objects share the same prim name.

  • omni.isaac.examples

    • Fixed

      • Made various improvements to Franka nut and bolt demo, improving the screw controller, fixing the vibrating table, and enabling 6 bolts by default.

      • Fixed “missing button” error when running tests.

      • Fixed onclick_fn warning.

  • omni.isaac.extension_templates

    • Added new omni.isaac.extension_templates extension.

  • omni.isaac.gain_tuner

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.gym

    • Added

      • Added option to enable livestream.

      • Fixed physics device parameter.

      • Fixed render flag in headless mode.

      • Improved handling of viewport in VecEnvBase.

      • Added the option to run headless with rendering enabled, via a new app file (omni.isaac.sim.python.gym.headless.render.kit) and a new enable_viewport parameter in the VecEnvBase constructor.

    • Changed

      • Refactored tests to use a shared base class.

      • Updated tests to use a temporary directory for cloning the OIGE repository.

    • Fixed

      • Fixed error message that would appear on stage close.

  • omni.isaac.kit

    • Added

      • Added a minimal AppFramework class.

    • Changed

      • Updated SimulationApp to ensure that Replicator is stopped before closing application.

    • Fixed

      • Fixed startup warnings.

      • Added error checking to set_camera_view() to ensure viewport extension is loaded.

  • omni.isaac.lula

    • Changed

      • Upgraded Lula from release 0.8.1 to release 0.8.2. This fixes a bug in the trajectory generator’s task-space path conversion that could result in suboptimal interpolation of orientations. In addition, a new option was added to the trajectory generator allowing user specification of time values at waypoints.

  • omni.isaac.lula_test_widget

    • Added new omni.isaac.lula_test_widget extension.

  • omni.isaac.merge_mesh

    • Fixed

      • Updated extension to include primvars:normals attribute when merging meshes.

      • Fixed onclick_fn warning.

  • omni.isaac.mjcf

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.motion_generation

    • Fixed

      • Fixed typo in variable name in ArticulationTrajectory.get_robot_articulation().

  • omni.isaac.motion_planning

    • Fixed

      • Removed dependency on dynamic_control assets from tests in favor of Nucleus assets.

  • omni.isaac.occupancy_map

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.ocs2

    • Fixed

      • Fixed unit test for end effector tracking.

      • Fixed startup errors due to missing symbols.

  • omni.isaac.onshape

    • Added

      • Added Preferences panel for setting importer preferences.

      • Added direct import capability using current asset folder as destination (or default import folder if new stage).

      • Added support for Assembly configurations.

      • Added base and edit layer so user changes are preserved when changing assembly configuration.

      • Added namespace configuration for Omniverse Enterprise users.

    • Fixed

      • Fixed tests so they take into account USD stage.

      • Ensured proper alignment of the document workspace/version across every component being imported.

      • Fixed an issue where some parts wouldn’t load due to wrong part ID vs. encoded part ID being used in the request.

      • Improved overall performance and UI responsiveness.

  • omni.isaac.partition

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.physics_inspector

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.physics_utilities

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.quadruped

    • Removed

      • Removed dependency on dynamic_control extension.

      • Removed Quadruped class (no longer needed).

    • Changed

      • Updated extension to use omni.isaac.sensor classes for contact and IMU sensors.

  • omni.isaac.range_sensor

    • Added

      • Added Fabric support.

    • Fixed

      • Fixed an issue that resulted in incorrect lidar semantic IDs when rotation rate was nonzero.

      • Fixed a bug where parent xform scale would cause lidar beams to be incorrect.

      • Fixed onclick_fn warning.

      • Removed unnecessary C++ OGN files from extension.

  • omni.isaac.robot_benchmark

    • Changed

      • Moved standalone_benchmark_runner.py to top-level standalone_examples/ directory.

    • Fixed

      • Fixed “missing button” error when running tests.

      • Fixed onclick_fn warning.

  • omni.isaac.robot_description_editor

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.ros2_bridge

    • Added

      • Added Fabric support.

      • Added resetSimulationTimeOnStop to ROS2CameraHelper node.

    • Changed

      • Modified Omnigraph for MoveIt example to match tutorials provided by MoveIt 2.

    • Fixed

      • Updated Camera and RTX Lidar helpers to ensure settings are updated on stop/play.

      • Fixed an issue where image-based messages always used increasing simulation time.

      • Fixed an issue that resulted in RTX Lidar not publishing flatscan data correctly.

      • Updated semantic label publisher to avoid producing an invalid JSON string in cases where the semantic message is empty.

      • Fixed computation of 2D and 3D bounding box positions, orientations, and sizes to avoid incorrect values in certain cases.

      • Changed semanticId in PublishBbox2d and PublishBbox3d from int to string.

      • Enhanced TF_Tree to handle the case when multiple objects share the same prim name, using the isaac:nameOverride attribute.

      • Updated tests to use a fixed QOS profile to improve determinism.

      • Fixed crash that could result when using an old context handle.

      • Removed unnecessary C++ OGN files from extension.

      • Fixed onclick_fn warning.

  • omni.isaac.ros2_bridge-humble

    • Added

      • Added Fabric support.

      • Added resetSimulationTimeOnStop to ROS2CameraHelper node.

    • Changed

      • Modified Omnigraph for MoveIt example to match tutorials provided by MoveIt 2.

    • Fixed

      • Updated Camera and RTX Lidar helpers to ensure settings are updated on stop/play.

      • Fixed an issue where image-based messages always used increasing simulation time.

      • Fixed an issue that resulted in RTX Lidar not publishing flatscan data correctly.

      • Updated semantic label publisher to avoid producing an invalid JSON string in cases where the semantic message is empty.

      • Fixed computation of 2D and 3D bounding box positions, orientations, and sizes to avoid incorrect values in certain cases.

      • Changed semanticId in PublishBbox2d and PublishBbox3d from int to string.

      • Enhanced TF_Tree to handle the case when multiple objects share the same prim name, using the isaac:nameOverride attribute.

      • Updated tests to use a fixed QOS profile to improve determinism.

      • Fixed crash that could result when using an old context handle.

      • Removed unnecessary C++ OGN files from extension.

      • Fixed onclick_fn warning.

  • omni.isaac.ros_bridge

    • Added

      • Added Fabric support.

      • Added resetSimulationTimeOnStop to ROS1CameraHelper node.

    • Fixed

      • Fixed an issue where image-based messages always used increasing simulation time.

      • Fixed an issue that resulted in RTX Lidar not publishing flatscan data correctly.

      • Updated semantic label publisher to avoid producing an invalid JSON string in cases where the semantic message is empty.

      • Fixed computation of 2D and 3D bounding box positions, orientations, and sizes to avoid incorrect values in certain cases.

      • Enhanced TF_Tree to handle the case when multiple objects share the same prim name, using the isaac:nameOverride attribute.

      • Removed unnecessary C++ OGN files from extension.

      • Fixed onclick_fn warning.

  • omni.isaac.scene_blox

    • Changed

      • Moved scene_blox tool to omni.isaac.scene_blox extension.

  • omni.isaac.sensor

    • Added

      • Updated RTX Lidar to output normals at hit location.

      • Added option to ignore unlabeled points when enabling pointcloud generation.

    • Changed

      • Updated extension to use SdRenderVarPtr node instead of IsaacRenderVarToCpuPointer.

      • Updated Camera so removing an annotator also detaches it.

      • Changed LidarRtx to ensure data is updated on app update.

    • Fixed

      • Fixed an issue where lidar flatscan node would access data before it was ready.

      • Fixed an issue that resulted in the IMU sensor not reading physics scene gravity correctly.

      • Fixed a bug that prevented occlusion annotator from being enabled.

      • Fixed a bug that resulted in RTX Lidar not returning data.

      • Fixed an issue where IsaacComputeRTXLidarFlatScan would disconnect upon activation.

      • Fixed an issue causing RTX point cloud publishers to publish twice per frame.

      • Updated Sensor classes so that each only subscribes to the type of stage event it needs.

      • Fixed test failures and added extra test warnings.

      • Removed unnecessary C++ OGN files from extension.

      • Fixed onclick_fn warning.

  • omni.isaac.shapenet

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.surface_gripper

    • Changed

      • Updated extension to a new action-based menu system.

  • omni.isaac.synthetic_recorder

    • Added

      • Added timeline control.

      • Added pointcloud_include_unlabelled parameter, enabling the capture of pointcloud data for prims without semantic labels.

    • Removed

      • Removed manual control UI.

    • Changed

      • Switched to async functions from Replicator 1.7.1 API.

    • Fixed

      • Added wait_until_complete() to ensure final frame is written to S3 bucket.

      • Added support for incremental folder naming with S3.

      • Updated extension to allow empty (None) values for s3_region and s3_endpoint, not required by S3.

      • Updated extension so it only subscribes to the type of stage event it needs.

      • Updated extension so it cleans up properly on shutdown.

      • Fixed onclick_fn warning.

  • omni.isaac.synthetic_utils

    • Fixed

      • Fixed test errors due to missing button.

  • omni.isaac.ui

    • Added

      • Added element_wrappers module, providing helpful wrappers around UI elements that simplify button and frame creation and management.

    • Changed

      • Renamed tests/startup.py to tests/test_ui.py.

      • Updated on_startup() to use make_menu_item_description(), enabling use of the action registry.

    • Fixed

      • Refactored calback tests to reduce spurious errors.

  • omni.isaac.ui_template

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.unit_converter

    • Fixed

      • Fixed converter to ensure payloads as well as references are included when scaling.

      • Fixed onclick_fn warning.

  • omni.isaac.universal_robots

    • Changed

      • Changed values for surface griper torque and force limits for bin filling so that the grip breaks after filling the bin.

  • omni.isaac.urdf

    • Added

      • Added unit test for joint limits.

      • Added URDF data file for joint limit unit test (test_limits.urdf).

    • Fixed

      • Removed implicit scaling of max joint effort (by factor of 60) during import.

      • Fixed spurious warnings when setting the joint damping and stiffness to 0 for NONE drive type.

      • Removed custom collision API when the shape is a cylinder.

      • Fixed an issue where imported negative URDF effort and velocity joint constraints set the physics constraint value to infinity.

      • Fixed onclick_fn warning.

  • omni.isaac.utils

    • Fixed

      • Fixed onclick_fn warning.

  • omni.isaac.wheeled_robots

    • Fixed

      • Fixed a spurious error on stop for holonomic and differential controllers.

      • Updated Stanley controller and corresponding OmniGraph node to allow user specification of parameters (as opposed to hardcoded values).

  • omni.kit.property.isaac

    • Added

      • Added NameOverrideWidget.

  • omni.replicator.isaac

    • Fixed

      • Fixed OgnDope node so it returns proper value for occlusion.

  • omni.usd.schema.isaac

    • Added

      • Added nameOverride attribute.

2022.2.0

  • Kit SDK 104.1

  • NVIDIA cuOpt Integration

  • Human simulation via omni.anim.People

  • Improved RTX Lidar Support and Lidar Models

  • ROS/ROS2 Replicator Post Processing support

  • ROS2 Windows Beta

  • ROS2 Humble Beta

  • Conveyor Belt Utility

  • Omniverse Isaac Gym Performance Improvements

  • Omniverse Replicator Performance Improvements

  • Motion Generation (e.g., RMPflow) usability improvements, including a graphical editor for Lula robot description files

  • Flexible task-space and c-space trajectory generation for manipulators, exposed through Motion Generation extension

Tutorials

Warehouse Asset Tutorial Extended Offline Dataset Generation Replicator Tutorial Creating Lula Robot Description Files Using Lula Trajectory Generator

Assets

  • Added the Clearpath Dingo and Jackal mobile bases

  • Added the following manipulators:

    • Kawasaki rs007l, rs007n, rs0013n, rs025n, and rs80n

    • Universal Robots UR3, UR3e, UR5, UR5e, UR10 (slightly updating an older UR10 asset), UR10e, and UR16e

    • Flexiv RIZON 4

    • Festo Cobot

  • Added simple terrain environments

Omniverse Isaac Gym Environments

  • Introduce flag for faster contact processing and reporting

  • Introduce runtime mass randomization for Domain Randomization

  • Improved environment creation performance

  • Improved and updated implementation for ShadowHandOpenAI_FF, AnymalTerrain, and Quadcopter

Other

Extensions

  • omni.isaac.app.selector

    • Fixed

      • Made show_console setting persistent.

  • omni.isaac.app.setup

    • Changed

      • Updated menu structure to match Omniverse USD Composer.

      • Added replicator menu layout.

      • Moved “Help” menu to the end.

      • Updated menu icons.

      • Removed unused call to legacy viewport.

    • Fixed

      • Disabled App Selector auto start when running from the Help menu.

      • Switched to F3 key for launching Isaac Sim docs, avoiding overloading of F1 key.

  • omni.isaac.asset_browser

    • Added

      • Added People folder.

    • Changed

      • Updated to use new viewport interfaces.

  • omni.isaac.cloner

    • Added

      • Added option to use omni.physics replication.

    • Fixed

      • Fixed crash when cloning with single environment.

  • omni.isaac.conveyor

    • Added

      • Added “Digital Twin Library” conveyor authoring tool.

      • Added support for curved conveyors

    • Changed

      • Changed default path for creating conveyor command to be prim parent instead of rigid body prim.

      • Reorganized assets.

    • Fixed

      • Fixed adaptive scaling for assets not in the same “meters per unit” as the open stage.

      • Updated documentation for CreateConveyorBelt command.

      • Updated do() method for CreateConveyorBelt command to only return the created prim, rather than a tuple.

      • Fixed a bug that resulted in the OmniGraph node not updating if the node direction changed.

  • omni.isaac.core

    • Added

      • Added particle cloth simulation support through physics.tensors extension.

      • Moved ArticulationSubset to omni.isaac.core from omni.isaac.motion_generation.

      • Added set_targets() to prim utils.

      • Added sleep threshold setter and getter in RigidPrimView.

      • Added articulationView API functions to get the commanded and computed joint efforts.

      • Added get_body_index() to return queried body index

      • Added base sensor class.

      • Added backend utilities (for both torch and numpy) for pad(), stack(), matmul(), sin(), cos(), inverse(), and transpose_2d().

      • Added mesh.py and random.py.

      • Added utils.render_product.

      • Added RigidContactView class and APIs within RigidPrimView to retrieve net contact forces and contact forces from a subset of prims.

      • Added support for applying rigid body forces in local coordinates and also at a specified position.

      • Added get_id_from_index() for converting a legacy viewport ID index into a proper viewport ID.

      • Added clear_xform_ops() and reset_and_set_xform_ops().

      • Added set_prim_hide_in_stage_window() and set_prim_no_delete().

      • Added add_aov_to_viewport()

      • Added viewport helper functions get_viewport_names() and get_window_from_id().

    • Deprecated

      • Deprecated get_joint_efforts() in favor of get_applied_joint_efforts().

    • Changed

      • Updated ArticulationSubset to handle sparse ArticulationActions. Previously, it None-padded the ArticulationAction.

      • Made some additional modifications to ArticulationSubset to simplify error checking and adopt better member names.

      • Moved standalone pose estimation example utilities to core.utils.

      • Moved utility functions from core/utils/pose_generation.py to core/utils/transformations.py, …/mesh.py, and …/random.py.

      • Moved get_mesh_vertices_relative_to() from ycb_video_writer.py to mesh.py.

      • Set persistent.isaac.asset_root.nvidia to main NVIDIA asset path.

      • Changed default values of shape sizes from 0.05 to to 1.0.

      • Added support for manually setting dt if loop runner is available outside of SimulationApp.

      • Switched to blocking update_simulation() call in warm_start().

      • Updated reset_xform_ops() so it now resets to Isaac Sim defaults.

      • Removed unused velocity argument from set_camera_view().

      • Removed default arguments from set_camera_view() to make it more general.

      • Switched to omni.kit.viewport.utility from legacy viewport.

      • Updated SimulationContext and World to remove explicit caching and restoration of the frame rate when a new stage is created. This is no longer needed with Kit 104, which resets the frame rate automatically when a new stage is loaded.

      • Improved API documentation.

    • Fixed

      • Fixed bug that resulted in the data logger modifying the _data_frames variable when save() was called.

      • Fixed getter and setter for sleep threshold.

      • Fixed RigidContactView for GeometryPrim / GeometryPrimView.

      • Updated get_joint_efforts() in Articulation so it’s consistent with that in the ArticulationView class.

      • Fixed behavior of set_local_poses() when indices are provided.

      • Fixed device for max_efforts in ArticulationView.

      • Fixed order of matrix multiplications for variable source_to_target_column_major_tf in function get_relative_transform() in utils/pose_generation.py.

      • Fixed bug in sphere.py and cylinder.py where incorrect prim type was used in IsA check.

      • Fixed bug in disable_rigid_body_physics().

  • omni.isaac.core_archive

    • Removed

      • Removed certifi package from archive.

    • Changed

      • Made extension OS-specific.

  • omni.isaac.core_nodes

    • Added

      • Added function to handle writer activation requests in order to avoid race conditions from camera helpers.

      • Added IsaacSetCameraOnRenderProduct node.

      • Added IsaacCreateRenderProduct node.

      • Added IsaacGetViewportRenderProduct node.

      • Added render product support for ReadCameraInfo.

      • Added fisheye parameter support for ReadCameraInfo.

      • Added linearAcceleration and angularAcceleration to IsaacComputeOdometry.

      • Added utility function to cache writer attach calls until the next frame.

      • Added python bindings for timing-related APIs.

    • Deprecated

      • Deprecated viewport support in ReadCameraInfo.

    • Changed

      • Added support for setting IsaacSimulationGate step value to zero in order to stop execution.

      • Updated CreateViewport to only create one viewport.

      • Updated CreateViewport to take a name as input, falling back to viewportId as the name if name is not set.

      • Updated to use omni.kit.viewport.utility in place of legacy viewport APIs.

    • Fixed

      • Fixed errors with SDG template registration.

      • Fixed errors in default OGN tests.

      • Fixed issue with Articulation Controller node skipping single array inputs.

      • Updated CreateViewport to use an ID rather than the legacy viewport index.

      • Fixed bug with hiding /Render` prim when it didn’t exist.

  • omni.isaac.cortex

    • Added

      • Added Cortex version of the UR10 bin-stacking example.

      • Added a simple “follow” example.

      • Added Cortex task tools for native use of decider networks and the motion commander from the core API.

      • Added MotionCommander.soft_reset() method to reset only the C-space integration state.

    • Changed

      • Updated omni.isaac.cortex extension so that it no longer depends on ROS.

      • Moved ROS-dependent tools and extensions to omni.isaac.cortex_sync extension.

      • Refactored extension to expose the cortex pipeline reset separate from the full world reset. This is used by cortex_ros now when synchronizing with a sim/physical robot.

      • Updated “commander” API framework with explicit logical state monitoring, behavior stepping, and commander stepping.

      • Improved the cortex task API so it takes the commander rather than just the target prim.

      • Added loop_fast param in cortex world run() method, and renamed step_loop_runner() to run().

      • Renamed decider parameter in DfNetwork to root to make its purpose more explicit.

      • Made various updates to standalone examples.

      • Made peck_decider_network.py example align better with its peck_state_machine.py counterpart.

    • Fixed

      • Updated so that during cortex reset, commanders are reset before behaviors. (Motion commander reset adds obstacles back; behavior might disable them.)

      • Fixed a motion commander reset bug, ensuring that the target prim is reset to the end-effector.

  • omni.isaac.cortex_sync

    • Added new omni.isaac.cortex_sync extension.

  • omni.isaac.debug_draw

    • Added

      • Added a point cloud node.

  • omni.isaac.demos

    • Added

      • Added Carter v2 robot to navigation demo.

    • Changed

      • Removed direct legacy viewport calls.

  • omni.isaac.diff_usd

    • Changed

      • Moved “Diff USD” to “Isaac Utils” menu.

  • omni.isaac.dynamic_control

    • Removed

      • Removed USD files local to the extension.

    • Fixed

      • Fixed handling of prim deletion.

  • omni.isaac.examples

    • Added

      • Added “nut and bolt” example.

    • Changed

      • Removed direct legacy viewport calls.

    • Removed

      • Removed dynamic_control examples joint_controller.py and read_articulations.py. Similar functionality is now provided by the Articulation and ArticulationView classes in omni.isaac.core.

  • omni.isaac.examples_nodes

    • Added

      • Added new omni.isaac.examples_nodes extension.

  • omni.isaac.franka

    • Removed

      • Removed USD files local to extension.

  • omni.isaac.gym

    • Fixed

      • Fixed issues with dependency installation.

  • omni.isaac.isaac_sensor

    • Deprecated

      • Deprecated omni.isaac.isaac_sensor in favor of omni.isaac.sensor.

  • omni.isaac.kit

    • Added

      • Added fast_shutdown configuration option.

    • Removed

      • Removed memory_report configuration option.

    • Changed

      • Improved startup times.

    • Fixed

      • Fixed an error message when closing stage before closing simulation app.

      • Fixed an issue where fast shutdown caused Jupyter notebooks to crash.

  • omni.isaac.lula

    • Changed

      • Upgraded Lula to release 0.8.1. Among other improvements, this adds a flexible trajectory generator and collision sphere generator. In addition, the robot description file format has been simplified, with “root_link” and “cspace_to_urdf_rules” now optional and “composite_task_spaces” and “subtree_root_link” removed/ignored.

      • Changed default Lula log level to WARNING.

  • omni.isaac.manipulators

    • Added

      • Added support for running only first N phases of the pick-and-place controller (instead of full 10).

      • Renamed start_picking_height parameter in pick-and-place controller to end_effector_initial_height.

      • Added documentation.

    • Fixed

      • Fixed typo in suction_gripper.py warning message.

  • omni.isaac.mjcf

    • Added

      • Added material and texture support.

  • omni.isaac.motion_generation

    • Added

      • Added Trajectory interface, ArticulationTrajectory, and Lula trajectory generators.

      • Added function to get default RMPflow c-space target.

      • Added RMPflow configs for Kawasaki rs007l, rs007n, rs0013n, rs025n, and rs80n.

      • Added RMPflow configs for Universal Robots UR3, UR3e, UR5, UR5e, and UR16e.

      • Added RMPflow config for Festo Cobot.

      • Added RMPflow config for Flexiv RIZON 4.

    • Changed

      • Made a small change to Denso Cobotta RMPflow configs for consistency with tutorials.

      • Moved Cortex UR10 RMPflow config file and corresponding policy config to new directory; it was previously unused.

      • Updated old robot description YAML files for Franka, UR10, DOFbot, and Denso Cobotta to remove unnecessary fields that had no effect.

      • Moved ArticulationSubset to omni.isaac.core from omni.isaac.motion_generation.

      • Updated ArticulationMotionPolicy to use sparse ArticulationActions.

      • Added support to ArticulationMotionPolicy for setting a (possibly varying) dt on each frame, as opposed to a constant default value.

      • Replaced RMPflow parameter evaluations_per_frame with maximum_substep_size to account for a possibly varying framerate.

      • Updated outdated Franka URDF with new joint limits on joint 7.

    • Fixed

      • Fixed missing import statement for ArticulationTrajectory in MotionGeneration.

  • omni.isaac.occupancy_map

    • Fixed

      • Fixed duplicate symbol issue under linux by statically linking against octomap.

  • omni.isaac.ocs2

    • Added

      • Added new omni.isaac.ocs2 extension.

  • omni.isaac.onshape

    • Added

      • Added “Ball” (spherical) Mates support.

      • Added support for getting document directly by pasting the URL in the search bar.

    • Fixed

      • Fixed missing icons under Windows.

      • Fixed slider mates with limits that were breaking on import.

      • Fixed importing on newer versions that would break when creating USD stages.

      • Fixed issue where installing requests-oauthlib would return an error even when the package was installed successfully.

  • omni.isaac.quadruped

    • Changed

      • Removed direct legacy viewport calls.

    • Fixed

      • Updated camera pipeline with writers.

      • Fixed viewport name.

      • Fixed issue that resulted in viewports not docking correctly.

  • omni.isaac.range_sensor

    • Added

      • Added option to either stream data or repeat data for generic sensor.

    • Removed

      • Removed USD files local to extension.

    • Changed

      • Removed legacy viewport calls.

    • Fixed

      • Updated so data streaming in menu for lidar and ultrasonic sensor are updating and refreshed when new sensors are loaded.

      • Enforced that zenith range is (0,0) if high LOD is false and lidar is 2D.

      • Updated so multiple lidars now have the same semantic colors, using a fixed random seed for debug semantic color generation.

      • Updated generic sensor API to use getPointCloud() instead of getHitPosData().

  • omni.isaac.robot_benchmark

    • Changed

      • Updated UR10 tests to use UR10 asset from Nucleus.

      • Removed direct legacy viewport calls.

    • Fixed

      • Fixed a determinism issue.

  • omni.isaac.robot_description_editor

    • Added new omni.isaac.robot_description_editor extension, providing a graphical editor/generator for Lula robot description files, including editing and automatic generation of collision spheres.

  • omni.isaac.ros_bridge

    • Added

      • Added rtx_lidar_helper node.

      • Added node template for rtx_radar.

      • Added renderProductPath input for camera helper.

    • Deprecated

      • Deprecated viewport input for camera helper.

    • Changed

      • Updated publishing nodes to use replicator writer backend.

      • Changed node template name for rtx_lidar.

      • Removed direct legacy viewport calls.

    • Fixed

      • Updated RTX Lidar transform tree publisher for compatibility with latest Isaac RTX Lidar sensor API.

      • Fixed warning when setting semantic class input.

  • omni.isaac.ros2_bridge

    • Added

      • Added rtx_lidar_helper node.

      • Added node template for rtx_radar.

      • Added renderProductPath input for camera helper.

    • Deprecated

      • Deprecated viewport input for camera helper.

    • Changed

      • Updated publishing nodes to use replicator writer backend.

      • Changed node template name for rtx_lidar.

      • Removed direct legacy viewport calls.

    • Fixed

      • Fixed errors that manifested when switching between ROS2 (Foxy) and ROS2 Humble bridges.

      • Updated RTX Lidar transform tree publisher for compatibility with latest Isaac RTX Lidar sensor API.

      • Fixed warning when setting semantic class input.

  • omni.isaac.ros2_bridge-humble

    • Added

      • Added new omni.isaac.ros2_bridge-humble extension as a Humble variant of the ROS2 bridge.

  • omni.isaac.sensor

    • Added

      • Added contact sensor and IMU sensor wrappers.

      • Added RTX Lidar and rotating physics lidar wrappers.

      • Added Camera class, providing many utilities for interacting with a camera prim in a stage.

      • Added node template for rtx_radar.

      • Added PrintRTXRadarInfo and ComputeRTXRadarPointCloud nodes for rtx_radar.

      • Added ReadRTXLidarData` node for getting lidar data without computing point cloud.

      • Added profile support for lidar point cloud creation.

      • Added IsaacSensorCreateRtxRadar command.

      • Added IsaacRenderVarToCpuPointer node to replace rtx_lidar use of SdRenderVarToRawArray.

      • Added ReadRTXRaw node.

      • Added PrintRTXLidarInfo node.

      • Added ReadRTXLidarFlatScan node.

      • Added output on demand for all possible attributes in ReadRTXLidarPointCloud node.

      • Added intensity output to ReadRTXLidarPointCloud node.

      • Added transform attribute to ReadRTXLidarPointCloud node.

      • Added keepOnlyPositiveDistance flag to ReadRTXLidarPointCloud node.

      • Added accuracy error post process to ReadRTXLidarPointCloud node.

      • Added IsaacRtxLidarSensorAPI applied schema to differentiate regular cameras from RTX Lidar cameras.

      • Added synthetic data template for DebugDrawPointCloud.

      • Added lidar config file location as data/lidar_configs.

    • Removed

      • Removed ReadRTXRaw node, and moved pointer passthrough functionality to IsaacRenderVarToCpuPointer.

      • Removed USD files local to extension.

    • Changed

      • Renamed omni.isaac.isaac_sensor to simply omni.isaac.sensor.

      • Switched debug draw nodes to use replicator writer backend.

      • Hid RTX Lidar menu on Windows as RTX sensor is not yet supported on that platform.

      • Updated RTX nodes to pass reasonable defaults if sensor is not found.

      • Changed node template name for rtx_lidar.

      • Renamed ReadRTXLidar nodes to ComputeRTXLidar

      • Changed inputs to ReadRTXLidarPointCloud and ReadRTXLidarFlatScan nodes to use cpuPointer from IsaacRenderVarToCpuPointer.

      • Updated ReadRTXLidarPointCloud to ignore zero values.

      • Updated ReadRTXLidarPointCloud to output in lidar coordinates.

      • Changed the backend contact API to use updated batched update instead of notifications.

      • Updated to use xform utilities instead of XformPrim for commands.

    • Fixed

      • Updated do() method for IsaacSensorCreateContactSensor, IsaacSensorCreateImuSensor, IsaacSensorCreateRtxLidar, and IsaacSensorCreateRtxRadar commands to only return the created prim, rather than a tuple.

      • Removed extra copy of BaseResetNode in favor of the one in core_nodes.

      • Fixed positions of points in ReadRTXLidarPointCloud.

  • omni.isaac.surface_gripper

    • Added

      • Added additional robots and environments to menu.

    • Changed

      • Moved surface gripper to Create -> Isaac -> End Effector menu.

    • Fixed

      • Added logic for preventing the surface gripper from closing until it reaches some object.

      • Updated CreateSurfaceGripper command documentation.

      • Updated do() method for CreateSurfaceGripper command to only return the created prim, rather than a tuple.

  • omni.isaac.synthetic_recorder

    • Added

      • Rewrote extension to leverage Replicator OV API.

      • Added button to reset directory to default.

      • Added support for loading custom writers.

    • Changed

      • Renamed extension.py to synthetic_recorder_extension.py.

      • Renamed extension class from Extension to SyntheticRecorderExtension.

    • Fixed

      • Empty strings are no longer saved to config files.

      • Fixed menu toggle value when user closes the window.

      • Fixed issue where annotators would block other annotators from writing data if their requirements were not met.

  • omni.isaac.synthetic_utils

    • Changed

      • Removed legacy viewport calls not related to synthetic data generation.

    • Fixed

      • Updated an internal function call to eliminate a deprecation warning.

  • omni.isaac.ui

    • Added

      • Added D-pad (directional pad) controller class, providing a clickable D-pad UI element.

    • Fixed

      • Fixed a bug resulting in an additional error in situations where a web browser could not be opened for browsing an extension’s documentation.

      • Fixed missing min/max limits for int field.

  • omni.isaac.ui_template

    • Fixed

      • Fixed limit issues with int field.

  • omni.isaac.universal_robots

    • Changed

      • Changed values for surface griper torque and force limits.

  • omni.isaac.urdf

    • Changed

      • Removed direct legacy viewport calls.

      • Modified default gains in URDF-to-USD converter to match gains for Franka and UR10 robots.

    • Fixed

      • Fixed materials for instanceable imports.

  • omni.isaac.utils

    • Changed

      • Revamped Create -> Isaac menu.

      • Removed legacy viewport calls.

    • Fixed

      • Improved default settings for the default cameras for “office,” “hospital,” and “simple room.”

  • omni.isaac.wheeled_robots

    • Added

      • Added OgnQuinticPathPlanner, OgnCheckGoal2D, and OgnStanleyControlPID nodes.

    • Changed

      • Removed excessive db.inputs calls to improve efficiency/speed.

      • Removed path drawing; this may be added in the future as an option.

    • Fixed

      • Fixed an issue with targeting using coordinates instead of prim.

  • omni.isaac.window.about

    • Changed

      • Updated menu icons.

  • omni.kit.loop-isaac

    • Added

      • Added set_manual_mode() to enable/disable manual setting of dt during runtime.

    • Changed

      • Renamed set_runner_dt() to set_manual_step_size().

      • Changed behavior so setting dt no longer enables manual mode automatically. It’s now necessary to call set_manual_mode(True).

  • omni.replicator.isaac

    • Added

      • Added Random3f node.

      • Added save_mesh_vertices option to ycb_video writer.

    • Changed

      • Changed PytorchWriter annotator to CUDA version of LdrColor annotator.

      • Updated to allow run-time mass randomization with GPU pipeline.

      • Changed DOPE writer to use BackendDispatch from omni.replicator.core for S3 writes.

    • Fixed

      • Fixed OgnDope node to have proper return type for return_data_dtype_bbox_3d.

      • Fixed device for max_efforts in ArticulationView.

      • Fixed OgnPose.py` node to read height and width from imageWidth and imageHeight.

      • Changed DOPE writer to write to folder within S3 bucket instead of root directory.

      • Added mising version field to PyTorch writer.

      • Updated render product paths for PyTorch writer test.

      • Cleaned up extension.toml.

      • Fixed register_rigid_prim_view() for RigidPrimViews that are non-root-link.

  • omni.usd.schema.isaac

    • Removed

      • Removed DR and ROS bridge schemas.