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Release notes#

6.2.0#

Release highlights#

General#

  • Updated Isaac Sim to Kit SDK 110.4.0.

  • Updated the default asset root, regional asset roots, and asset-pack downloads to the Isaac Sim 6.2 catalog.

  • Ubuntu 22.04 support is planned for removal in a future release.

  • Removed Cortex from the Isaac Sim build and documentation.

  • Fixed charset-normalizer imports during startup.

  • Bounded startup asset checks so a slow asset server cannot hang launch.

  • Documented the libstdc++ CXXABI_1.3.15 requirement for conda setups.

  • Added the physx-to-newton-conversion skill.

PhysX and Newton#

  • Updated Newton to 1.6.1, with MuJoCo and MuJoCo Warp 3.12.0, mujoco-usd-converter 0.6.1, newton-usd-schemas 0.5.0, and Warp 1.17.0.

  • Added Newton 1.6 drive-class support in the actuator API and grouped compatible USD-authored actuators for batched execution.

  • Added NewtonSolverOutputConfig for contact-force and articulation solver outputs before physics initialization.

  • Added an optional MuJoCoSolverConfig.cone override.

  • Added joint-friction getters and setters to the Newton articulation view.

  • Added Newton inverse-dynamics gravity and Coriolis compensation forces on CPU and GPU.

  • Added Newton queries for incoming joint wrenches and projected DOF forces.

  • Fixed Newton state-buffer handling for all substep counts, including CUDA graph capture. Even substep counts no longer lose a simulation substep or tensor-view writes.

  • Stopped allocating NewtonStage.state_temp.

  • Fixed boolean masks on articulation and rigid-body setters.

  • Fixed world-space conversion of body-local Newton rigid-contact points.

  • Fixed coordinate-layout position targets, including floating-base robots.

  • Rigid-body, articulation, and rigid-contact views now return False from check() after Newton rebuilds its model. Recreate these views before using them again.

Synthetic data generation#

Perception data generation (Replicator)#

  • Updated Replicator to 1.13.38.

  • OgnIntervalFiltering now writes a flat index array and clears outputs:indices when no environment matches.

  • Material-property bucket ranges now use the normal distribution’s standard deviation directly.

  • Grasp YAML loading skips malformed grasp_phases entries and reports unknown component names.

  • Added deformable synthetic data generation (SDG) examples with 3D bounding boxes.

  • Fixed cloner orientation precision.

Action and event data generation#

  • Flexible AI model setup: Added automatic model selection, local model configuration, and in-app credential updates.

  • Improved generation reliability: Fixed behavior planning, scene captioning, empty-view exports, and Chat IRO issues on Windows.

Mobility generation#

  • Separated instance ID segmentation from semantic segmentation, including readers, storage, and legacy recording.

  • NuRec replay keeps the requested RGB and depth flags instead of forcing RGB-only output.

Teleoperation synthetic data generation#

  • Updated to Isaac Teleop 1.4.145.

  • Added curated floating-gripper scenes and profiles for Robotiq 2F-85 and Hand-E, in addition to the existing xArm example.

  • Added definition-relative grasp maps and gripper-asset resolution from asset-root fragments, URIs, absolute paths, or definition-relative files.

  • Added a single-arm inverse kinematics (IK) profile with velocity-driven base locomotion.

  • IK now resolves arm joints by name so gripper degrees of freedom are not overwritten.

Robots#

  • URDF exporter

    • Added UDIM texture export support.

    • Fixed texture-name resolution.

    • Fixed collision-geometry filtering and prevented shared visual-collision meshes from applying scale twice during URDF export.

  • Asset Transformer

    • Preserve mimic metadata and report conversion readiness.

  • Robot policy examples

    • Preserve authored MuJoCo joint-limit solver references when Newton defaults are applied.

  • Heightmap importer

    • Generate adds terrain to the current stage by default, with explicit options for a ground plane, lighting, and overwriting existing terrain.

    • Added overwrite warnings and protection for content that the current layer cannot clear.

  • Gain Tuner

    • Can disable articulation self-collision for a test run on PhysX and Newton without modifying the asset.

    • Reads robotJoints and robotLinks, including nested robots named by those relationships.

  • System identification

    • Added paired untuned and tuned validation replays, capability checks for PhysX, Isaac-hosted Newton, standalone Newton MuJoCo, and differentiable Featherstone, and transactional USD and live PhysX writeback.

    • Added simulation.newton.mujoco_substeps for stiff drives.

    • Headless command-lag estimation is single-pass, and high-rate telemetry no longer stalls the solve before the first iteration.

    • Kept differentiable Featherstone gradients finite with high joint friction and varying link mass, center of mass, and inertia.

Sensors#

Cameras and depth sensors#

  • RtxCamera can wrap or create multiple Camera prims from a path list or regular expression.

  • TiledCameraSensor accepts tick_rate, schemas, and attributes, and authors cameras through RtxCamera.

  • Fixed stereo CameraInfo extrinsics for verged and tilted rigs. Relative rotation is no longer round-tripped through Euler angles.

RTX non-visual sensors and physics sensors#

  • Added read-only, zero-copy live raycast and joint-state buffers through get_sensor_reading_view(). get_sensor_reading() now returns an owned snapshot.

  • Fixed the lidar JSON converter when a sensor uses multiple emitter states.

  • Fixed the Pose annotator to return an empty result for empty semantic types and accept extent records with trailing metadata.

UCX#

  • UCX nodes now use pinned Holoscan sensor schemas and shared tensor joint definitions (protocol 2). This does not interoperate with the legacy Isaac OS wire codecs.

  • UCXSubscribeJointCommand receives asynchronously and no longer hangs the application when a peer is connected but no message is waiting.

Bridges#

ROS 2#

  • Auto-generated simulation-interface names use absolute USD prim paths.

  • ROS 2 simulation control prefers robot-schema joint names. The legacy fallback remains, with a deprecation warning.

  • ROS 2 message imports wait until a simulation-control helper is called, so extension discovery works when the ROS 2 bridge is unavailable.

  • Documented Isaac ROS 5.0 compatibility.

  • Clarified Nova Carter Nav2 launch commands.

  • Fixed Windows xacro prerequisite setup.

  • Fixed Franka gripper variants in the standalone MoveIt example.

  • Updated the bundled Windows ROS 2 Humble and Jazzy packages to the October 1, 2026 builds.

Docker and live streaming#

  • Documented custom WebRTC signaling and media ports, separately from the browser viewer’s HTTP port.

  • Added a Newton WebRTC streaming launcher and Docker Compose backend selection through ISAACSIM_PHYSICS_ENGINE=newton; PhysX remains the default.

  • Fixed CloudXR native-library loading failures in Linux standalone and container packages by preserving the libraries during packaging.

  • Added the isaac-sim-web-viewer agent skill for launching browser-based WebRTC streaming from a prebuilt NGC image without an Isaac Sim source checkout.

Motion generation#

  • The holonomic controller accepts None for unlimited speed, validates explicit limits, and derives solver conditioning from the commanded speed.

SimReady asset catalog#

  • Asset roots and downloadable asset packs were updated for the 6.2 catalog.

  • _collect_assets no longer overwrites assets that were already collected.

  • Included SimReady asset-transformer rule fixes in the independently packaged asset library.

  • The Open requirement docs link points at SimReady Foundation 2026.06.0.

  • Fixed robot and sensor USD paths in the asset documentation.

Common changes#

  • The URDF exporter and URDF/MJCF importers now load from the independently built isaacsim-asset wheel. Controllers, cuMotion, and experimental motion generation ship through the isaacsim-robot-motion wheel, with their public APIs and import paths preserved.

  • Core includes, core nodes, and ROS 2 simulation control now prefer robot-schema joint names. The legacy fallback is deprecated; link names are unchanged.

  • Preserved non-unit scale in USDRT pose updates across experimental prims and utilities.

  • Improved regression coverage, test isolation, asynchronous cleanup, and ROS 2 publisher and UI readiness checks across extensions, and clarified API documentation.

Breaking changes and deprecations#

Change

Action required

Changed or removed in

Cortex extensions and docs were removed.

Remove Cortex imports, samples, and menu flows.

6.2.0

The decision-framework RMPflowCortex registrations and their dedicated motion-policy configurations were removed.

Stop requesting RMPflowCortex. Use a supported policy such as RMPflow or the UR10 RMPflowSuction policy, and provide application-level sequencing.

6.2.0

HolonomicController speed limits now default to None (unlimited) instead of 1.0e20.

Handle None when inspecting limits. Pass explicit non-negative, finite limits when saturation is required.

6.2.0

get_sensor_reading() returns an owned snapshot instead of a live sensor buffer.

Request a fresh snapshot for updated readings, or use the read-only get_sensor_reading_view() API for live data.

6.2.0

Newton rigid-body, articulation, and rigid-contact views become invalid after a model rebuild.

Check check() and recreate invalid views before querying them.

6.2.0

MaterialsRoutingRule defaults to a lowercase textures folder.

Set the texture-folder option explicitly if downstream tools require different casing. Existing directory casing and explicit folder settings are preserved.

6.2.0

The default asset-root check timeout increases from 5 to 10 seconds.

Set /persistent/isaac/asset_root/timeout explicitly if your application requires the previous wait limit.

6.2.0

ArticulationActuators.from_actuators preserves supplied group order instead of sorting by DOF order.

Use the supplied group order when interpreting actuator batches; reorder inputs explicitly if your application requires DOF order.

6.2.0

NonVisualMaterial no longer authors a UsdPreviewSurface when the material has no shader.

Author a visual material (PreviewSurface, OmniPBR, or OmniGlass) before wrapping it if the prim must render.

6.2.0

UCX nodes use Holoscan protocol 2.

Update peers to Holoscan protocol 2; the legacy Isaac OS wire codecs are incompatible.

6.2.0

UCX core timeoutMs=0 now polls once; publisher-node timeouts of 0 are clamped to 100 ms.

Use g_kUcxInfiniteTimeout for indefinite waits in the core API. Set an explicit publisher timeout; subscriber-node timeoutMs=0 still keeps a receive outstanding.

6.2.0

URDF export validates required joint limits before writing and raises ValueError for invalid limits.

Author required velocity and position limits. Set explicit force limits if synthesized effort values are unsuitable: eligible actuated joints without authored force limits export effort=1e6, and passive mimic followers can export zero independent effort. Continuous joints may omit both effort and velocity limits; passive mimic bounds can be inferred from their source joint.

6.2.0

The bundled aioboto3 dependency was removed.

Declare and install aioboto3 in your own environment if your application uses it.

6.2.0

System identification no longer ships a standalone pip wheel. runtime.CarbLogHandler and the Carb logging install helpers were removed.

Run system identification inside the Isaac Sim Python environment.

6.2.0

JointStateSensorReading attributes are read-only.

Construct a new reading instead of assigning attributes such as reading.time.

6.2.0

TiledCameraSensor.authoring_object now returns the RtxCamera wrapper. Single-prim sensor runtimes reject multi-prim inputs.

Use the RtxCamera wrapper, and pass one prim to single-prim runtimes.

6.2.0

NewtonStage.state_temp is no longer allocated and stays None.

Stop reading state_temp.

6.2.0

Heightmap Generate adds terrain to the current stage instead of replacing it.

Enable Overwrite Existing when you need to replace existing terrain.

6.2.0

ROS 2 simulation control prefers robot-schema joint names. The legacy name fallback warns.

Replace the legacy isaac:nameOverride attribute with the robot-schema isaac:NameOverride attribute. Attribute names are case-sensitive.

Future release

Ubuntu 22.04 support is marked for removal.

Plan to migrate to a supported newer Ubuntu release. Ubuntu 22.04 remains supported in 6.2.

Future release

Known issues#

Camera gizmos can block RTX sensor rendering. Turn off Show By Type > Cameras before simulation, or launch with --/persistent/app/viewport/Viewport/Viewport0/scene/cameras/visible=false. This setting persists in user.config.json.

For the complete list, see Known Issues.

Kit SDK version#

Changed: 110.3.0 -> 110.4.0.

Kit package: 110.4.0+feature.

Kit SDK dependency version changes#

Changed#

  • isaacsim.anim.robot.bt_nodes: 0.1.1 -> 0.1.2

  • isaacsim.anim.robot.core: 1.4.4 -> 1.4.5

  • isaacsim.exp.full: 6.1.0 -> 6.2.0

  • isaacsim.replicator.agent.core: 1.7.9 -> 1.7.10

  • isaacsim.replicator.agent.schema: 0.1.1 -> 0.1.2

  • isaacsim.replicator.agent.ui: 1.2.0 -> 1.2.1

  • isaacsim.replicator.caption.core: 0.7.13 -> 0.7.15

  • isaacsim.replicator.incident.core: 0.11.11 -> 0.11.12

  • isaacsim.replicator.incident.ui: 0.6.4 -> 0.6.5

  • isaacsim.replicator.object.core: 0.11.16 -> 0.11.17

  • isaacsim.replicator.object.ui: 0.11.5 -> 0.11.6

  • isaacsim.sensors.rtx.placement: 0.16.14 -> 0.16.15

  • isaacsim.util.debug_draw: 3.2.6 -> 3.2.8

  • omni.ai.behavior_tree_gen.bridge: 1.0.8 -> 1.0.10

  • omni.ai.behavior_tree_gen.core: 1.0.6 -> 1.0.8

  • omni.ai.langchain.agent.chat_iro: 2.2.15 -> 2.2.17

  • omni.ai.langchain.core: 2.3.1 -> 2.3.5

  • omni.anim.asset: 110.3.0 -> 110.4.0

  • omni.anim.behavior.bundle: 110.3.0 -> 110.4.0

  • omni.anim.behavior.core: 110.3.5 -> 110.4.0

  • omni.anim.behavior.schema: 110.3.0 -> 110.4.0

  • omni.anim.behavior.tree: 110.3.0 -> 110.4.0

  • omni.anim.behavior.ui: 110.3.0 -> 110.4.0

  • omni.anim.curve_editor: 110.0.0 -> 110.0.1

  • omni.anim.graph.bundle: 110.3.0 -> 110.4.0

  • omni.anim.graph.core: 110.3.0 -> 110.4.0

  • omni.anim.graph.schema: 110.3.0 -> 110.4.0

  • omni.anim.graph.ui: 110.3.0 -> 110.4.0

  • omni.anim.navigation.bundle: 110.3.0 -> 110.4.0

  • omni.anim.navigation.core: 110.3.0 -> 110.4.0

  • omni.anim.navigation.schema: 110.3.0 -> 110.4.0

  • omni.anim.navigation.ui: 110.3.0 -> 110.4.0

  • omni.anim.retarget.bundle: 110.3.0 -> 110.4.0

  • omni.anim.retarget.core: 110.3.0 -> 110.4.0

  • omni.anim.retarget.preview: 110.3.1 -> 110.4.0

  • omni.anim.retarget.ui: 110.3.0 -> 110.4.0

  • omni.anim.skelJoint: 110.3.1 -> 110.4.0

  • omni.asset_validator.core: 1.20.1 -> 1.22.0

  • omni.asset_validator.ui: 1.20.1 -> 1.22.0

  • omni.behavior.scripting.bundle: 110.3.0 -> 110.4.0

  • omni.behavior.scripting.core: 110.3.0 -> 110.4.0

  • omni.behavior.scripting.ui: 110.3.0 -> 110.4.0

  • omni.behavior.tree.bundle: 110.3.0 -> 110.4.0

  • omni.behavior.tree.core: 110.3.0 -> 110.4.0

  • omni.behavior.tree.schema: 110.3.0 -> 110.4.0

  • omni.behavior.tree.ui: 110.3.0 -> 110.4.0

  • omni.cip.core: 2.1.5 -> 2.1.6

  • omni.cip.mega: 2.1.4 -> 2.1.5

  • omni.cip.mega.mcp: 2.1.4 -> 2.1.5

  • omni.cip.mega.mcp.pip_prebundle: 0.1.0 -> 0.1.1

  • omni.cip.mega.ui: 2.1.4 -> 2.1.5

  • omni.cip.mega.waypoints_ui: 2.1.4 -> 2.1.5

  • omni.cip.pip: 2.1.2 -> 2.1.3

  • omni.cip.waypoints: 2.1.4 -> 2.1.5

  • omni.convexdecomposition: 110.3.2 -> 110.4.4

  • omni.cuopt.service: 1.3.5 -> 1.3.6

  • omni.graph.nodes: 2.12.0 -> 2.12.1

  • omni.graph.ui: 2.10.3 -> 2.10.7

  • omni.graph.ui_nodes: 2.11.1 -> 2.11.2

  • omni.graph.window.core: 3.10.5 -> 3.10.6

  • omni.kit.asset_converter: 6.0.5 -> 6.1.0

  • omni.kit.browser.material: 1.6.6 -> 1.7.0

  • omni.kit.converter.cad: 209.5.2 -> 209.7.1

  • omni.kit.converter.common: 511.0.0 -> 511.1.1

  • omni.kit.converter.dgn: 510.1.7 -> 511.0.0

  • omni.kit.converter.dgn_core: 513.0.0 -> 514.0.0

  • omni.kit.converter.gsplat: 0.1.16 -> 0.1.26

  • omni.kit.converter.hoops: 510.4.1 -> 510.6.0

  • omni.kit.converter.hoops_core: 512.0.0 -> 512.2.1

  • omni.kit.converter.jt: 509.1.4 -> 509.2.0

  • omni.kit.converter.jt_core: 511.0.0 -> 511.1.1

  • omni.kit.environment.core: 1.4.3 -> 1.4.4

  • omni.kit.livestream.app: 10.3.1 -> 10.4.1

  • omni.kit.livestream.core: 10.4.0 -> 10.5.0

  • omni.kit.livestream.messaging: 1.3.3 -> 1.3.5

  • omni.kit.livestream.rtsp: 10.4.1 -> 10.4.5

  • omni.kit.livestream.webrtc: 10.7.0 -> 10.7.3

  • omni.kit.pointclouds: 1.6.15 -> 1.6.18

  • omni.kit.property.physics: 110.3.2 -> 110.4.4

  • omni.kit.sequencer.core: 110.0.0 -> 110.0.1

  • omni.kit.sequencer.usd: 110.0.0 -> 110.0.1

  • omni.kit.tool.asset_importer: 6.0.2 -> 6.0.4

  • omni.kit.tool.measure: 200.0.14 -> 200.1.5

  • omni.kit.variant.editor: 107.5.10 -> 107.5.12

  • omni.kit.variant.presenter: 107.1.6 -> 107.1.7

  • omni.kit.viewport.menubar.lighting: 107.3.2 -> 107.3.4

  • omni.kit.widget.material_preview: 1.1.3 -> 1.1.4

  • omni.kit.widgets.custom: 1.1.3 -> 1.1.4

  • omni.kit.window.material: 1.8.0 -> 1.9.0

  • omni.kit.window.material_graph: 2.2.1 -> 2.3.1

  • omni.kit.window.movie_capture: 3.0.9 -> 3.0.10

  • omni.kit.window.usddebug: 1.1.4 -> 1.1.5

  • omni.metropolis.pipeline: 0.0.9 -> 0.0.10

  • omni.metropolis.utils: 1.1.3 -> 1.2.1

  • omni.physics: 110.3.2 -> 110.4.4

  • omni.physics.isaacsimready: 110.3.2 -> 110.4.4

  • omni.physics.physx: 110.3.2 -> 110.4.4

  • omni.physics.physx.ui: 110.3.2 -> 110.4.4

  • omni.physics.stageupdate: 110.3.2 -> 110.4.4

  • omni.physics.tensors: 110.3.2 -> 110.4.4

  • omni.physics.ui: 110.3.2 -> 110.4.4

  • omni.physx: 110.3.2 -> 110.4.4

  • omni.physx.asset_validator: 110.3.2 -> 110.4.4

  • omni.physx.bundle: 110.3.2 -> 110.4.4

  • omni.physx.camera: 110.3.2 -> 110.4.4

  • omni.physx.cct: 110.3.2 -> 110.4.4

  • omni.physx.commands: 110.3.2 -> 110.4.4

  • omni.physx.cooking: 110.3.2 -> 110.4.4

  • omni.physx.demos: 110.3.2 -> 110.4.4

  • omni.physx.fabric: 110.3.2 -> 110.4.4

  • omni.physx.foundation: 110.3.2 -> 110.4.4

  • omni.physx.gpu: 110.3.2 -> 110.4.4

  • omni.physx.graph: 110.3.2 -> 110.4.4

  • omni.physx.pvd: 110.3.2 -> 110.4.4

  • omni.physx.supportui: 110.3.2 -> 110.4.4

  • omni.physx.tensors: 110.3.2 -> 110.4.4

  • omni.physx.tests: 110.3.2 -> 110.4.4

  • omni.physx.tests.visual: 110.3.2 -> 110.4.4

  • omni.physx.ui: 110.3.2 -> 110.4.4

  • omni.physx.vehicle: 110.3.2 -> 110.4.4

  • omni.replicator.core: 1.13.36 -> 1.13.38

  • omni.replicator.nv: 1.1.6 -> 1.1.7

  • omni.scene.optimizer.analysis: 110.2.1 -> 110.3.1

  • omni.scene.optimizer.bundle: 110.2.1 -> 110.3.1

  • omni.scene.optimizer.core: 110.2.1 -> 110.3.1

  • omni.scene.optimizer.ui: 110.2.1 -> 110.3.1

  • omni.scene.optimizer.validators: 110.2.1 -> 110.3.1

  • omni.services.convert.asset: 510.0.4 -> 510.1.0

  • omni.services.convert.cad: 508.0.6 -> 508.1.1

  • omni.services.pip_archive: 0.18.14 -> 0.18.15

  • omni.simready.content.browser: 0.3.8 -> 0.3.10

  • omni.usd.fileformat.e57: 1.7.4 -> 1.7.6

  • omni.usd.fileformat.pts: 110.0.3 -> 110.0.4

  • omni.usd.metrics.assembler.physics: 110.3.2 -> 110.4.4

  • omni.usd.metrics.assembler.ui: 110.1.1 -> 110.1.3

  • omni.usd.schema.metrics.assembler: 110.1.0 -> 110.1.1

  • omni.usd.schema.physx: 110.3.2 -> 110.4.4

  • omni.usd.schema.sequence: 3.2.0 -> 3.2.1

  • omni.usdex.libs: 2.3.0 -> 3.0.0

  • omni.usdphysics: 110.3.2 -> 110.4.4

  • omni.usdphysics.ui: 110.3.2 -> 110.4.4

  • omni.warp.core: 1.16.0 -> 1.17.0

  • omni.wrapp.package_explorer: 2.4.3 -> 2.4.4

Extensions#

This section lists notable functional changes—new APIs, behavior changes, deprecations, removals, and bug fixes that affect users. All new extensions are listed; internal maintenance, documentation-only changes, and test-only changes to existing extensions are omitted.

The changes listed for isaacsim.robot.schema (7.0.2) and isaacsim.asset.importer.utils (1.9.1) ship in Isaac Sim 6.2 through their shared library wheels; their extension manifest versions are unchanged from 6.1.

  • isaacsim.asset.exporter.urdf (2.2.6 -> 2.2.10)

    • Changed

      • Validate joint limits before replacing an existing URDF file. Reject required limits that remain missing or non-finite after supported fallback and mimic-limit inference, and reject one-sided position bounds. Continuous joints may omit both effort and velocity limits.

      • Export effort=1e6 for eligible actuated joints without authored force limits and record the unauthored state for reimport. Export zero independent effort for passive mimic followers with missing or unbounded effort; preserve authored finite limits.

      • Load isaacsim.asset.exporter.urdf from the independently built isaacsim-asset wheel.

    • Fixed

      • Convert geometry, joint offsets, inertia, and drive quantities consistently to SI units for stages authored in centimeters or millimeters.

      • Infer missing passive mimic velocity and position limits through source-joint chains, including negative ratios, offsets, and mixed angular/linear units. Reject unresolved or cyclic references, and preserve explicitly edited URDF limits on reimport.

      • Preserve PhysX mimic coupling direction and convert mimic offsets to URDF radians or meters.

      • Preserve authored effort and velocity limits on expanded multi-DOF axes.

      • Prefer canonical robot-schema joint names during export, with a warning for legacy-name fallback.

      • Export UDIM textures with constant, uniform, and varying texture-coordinate primvars, and deliver concrete tiles for OBJ and MTL exports.

      • Keep invisible and guide collision geometry out of visuals unless explicitly requested.

      • Prevent shared visual-collision primitives from applying composed scale twice.

      • Assign unique filenames to different texture payloads with the same name, and reuse identical payloads without overwriting unrelated textures.

    • Security

      • Reject remote texture filenames that decode to paths outside the export directory.

  • isaacsim.asset.gen.conveyor.ui (2.3.1 -> 2.3.3)

    • Fixed

      • Handle default and root-level track placement and allow deleting tracks loaded from existing stages.

      • Initialize the default conveyor assets directory without probing the asset server or changing the global asset timeout.

  • isaacsim.asset.importer.heightmap (2.3.5 -> 2.4.0)

    • Added

      • Add Create Ground Plane and Create Lighting options.

      • Add Add to Current Stage, enabled by default, and Overwrite Existing, disabled by default.

      • Add configure_stage_metadata and overwrite_existing arguments to HeightmapImporter.create_heightmap() and a terrain_path property reporting the last successful output path.

    • Changed

      • Add terrain without discarding existing stage content or changing its meters-per-unit, up-axis, or default prim. Use occupancyMap_NN when /World/occupancyMap is already taken.

      • Protect content hidden by variants, muted layers, references, or payloads. Reject generated paths hidden by inactive or unloaded prims and paths the current layer cannot clear.

      • Skip existing ground-plane and lighting paths unless overwriting is enabled.

      • Warn before replacing the stage or overwriting content, and warn on non-Z-up stages because terrain is generated in the XY plane.

    • Fixed

      • Honor cell size in meters regardless of stage units and resize the ground plane when regenerating with Overwrite Existing.

      • Prevent concurrent generation, cancel pending generation on shutdown, and remove partially authored terrain after a failed run.

      • Replace existing ground-plane and lighting content when overwriting is enabled.

  • isaacsim.asset.importer.mjcf (3.12.1 -> 3.13.0)

    • Changed

      • Load isaacsim.asset.importer.mjcf from the independently built isaacsim-asset wheel.

      • Update MuJoCo to 3.12.0, mujoco-usd-converter to 0.6.1, and newton-usd-schemas to 0.5.0.

  • isaacsim.asset.importer.urdf (3.11.10 -> 3.11.12)

    • Changed

      • Load isaacsim.asset.importer.urdf from the independently built isaacsim-asset wheel.

    • Fixed

      • Honor declared XML encodings and byte-order marks when reconstructing UDIM materials, and preserve input-validation errors.

      • Restore unauthored independent mimic limits from exporter metadata while preserving explicitly authored limits. Remove synthesized force limits when verified metadata records an unauthored source limit.

      • Preserve UDIM materials when importing URDF files exported with tiled textures.

    • Security

      • Bound XML-prefix scanning during UDIM material reconstruction to prevent excessive parsing time on long whitespace or comment prefixes.

  • isaacsim.asset.importer.utils (1.9.1)

    • Fixed

      • In the shared asset wheel, stop copying PhysX drive targetPosition to MuJoCo mjc:ref during conversion. The joint zero point is not a drive target, and interpreting copied degrees as radians could destabilize Newton robots.

      • Raise an error with optimizer diagnostics when mesh cleanup, normal or UV generation, or merging fails, or when USD Optimize is unavailable.

      • Pin the asset wheel’s USD Optimize dependency to a version compatible with its OpenUSD runtime.

  • isaacsim.asset.transformer (6.1.0 -> 6.2.1)

    • Added

      • ExecutionReport.composition_errors reports unresolved composition arcs on the output stage; composition_errors_truncated flags an incomplete search.

    • Fixed

      • Isolate exports from stale output files and cached layers, preserve unrelated files, and roll back failed publication.

      • Release USD stage owners before cleaning up failed exports so Windows file locks do not hide the execution report.

      • _collect_assets preserves existing same-named assets, reuses identical files, and numbers different payloads.

      • A failed source-stage export now fails the transform instead of transforming a stale base layer.

      • Content composed through sublayers, references, and payloads is no longer dropped when flatten_source is false; the output is not relocatable.

  • isaacsim.asset.transformer.rules (1.7.18 -> 1.7.25)

    • Added

      • MaterialsRoutingRule: add mdl_folder for bundling local MDL modules and sibling imports, including bundled copies of built-in modules.

    • Changed

      • MaterialsRoutingRule: default to lowercase textures, preserving existing directory casing and explicit folder settings.

    • Fixed

      • Avoid creating an empty Physics none.usda payload when converting a packaged asset again.

      • Keep Newton mimic targets and coefficients available in both packaged physics variants.

      • Keep shared Newton joint properties in physics.usda when MuJoCo schemas inherit NewtonJointAPI.

      • Preserve routed physics edits when applying robot schemas and generating the interface layer.

      • Report newly converted MuJoCo actuators whose source drives provide no gain parameters.

      • FlattenRule: retarget assetInfo:identifier to the package-local interface layer, preventing source-path leaks.

      • GeometriesRoutingRule: resolve inherited and collection physics bindings before instancing, preserving binding strength without promoting all-purpose visual bindings.

      • JointStateAPIRule: author joint-state schemas in standalone USD without requiring registered PhysX schemas.

      • RemoveSchemaRule: remove same-layer prepended schemas without dropping unrelated schemas.

  • isaacsim.asset.transformer.ui (1.1.2 -> 1.1.5)

    • Fixed

      • Give each rule action an independent copy of mutable parameter defaults.

      • Keep dictionary parameters synchronized after repeated key renames, value edits, and row removal.

      • Show a gain-review notice when a successful PhysX conversion creates actuators without authored gains.

  • isaacsim.asset.validation (2.2.0 -> 2.3.0)

    • Added

      • Add SimReady feature and capability definitions for authored RTX camera, depth, lens calibration, ISP, SPG, Lidar, and Radar sensor assets.

      • Register independently selectable checkers for 372 sensor requirements, including warnings where authored USD cannot establish the result.

    • Changed

      • Consolidate the six Lidar rule groups into the 75-requirement RTX Lidar Core capability and organize rule implementations by capability.

      • Exclude permissive SPG statements from validation, warn for legacy parameters and duplicate SPG output names, and refine Shader eligibility and Lua launch-argument checks.

      • Remove duplicate Radar requirements, read only OpenEXR headers for LUT metadata, and share SPG output-port traversal.

      • Require at least one RenderProduct for a sensor asset and warn about individual sensor prims without one.

      • Validate sensor definitions within the default-prim or explicitly selected prim subtree, including composed variant selections, without checking unrelated stage prims.

  • isaacsim.asset.validation.ui (1.0.0 -> 1.0.2)

    • Fixed

      • Discover Isaac validation profiles correctly in packaged containers.

  • isaacsim.benchmark.services (4.2.4 -> 4.2.5)

    • Fixed

      • BaseIsaacBenchmark.fully_load_stage: raise RuntimeError instead of continuing silently when the stage fails to open.

  • isaacsim.code_editor.python_server.ui (0.1.0 -> 0.1.1)

    • Fixed

      • Fix extension startup failing with “no running event loop” when enabled from the Extension Manager.

  • isaacsim.core.cloner (1.7.5 -> 1.7.6)

    • Fixed

      • Preserve source orientation precision when cloning quatd, quatf, and quath values.

  • isaacsim.core.deprecation_manager (0.4.4 -> 0.4.5)

    • Fixed

      • Stop matching a node type against multiple deprecation entries, which could crash the OmniGraph migration on stage open.

      • Stop rewriting omni.isaac.wheeled_robots.AckermannController nodes to an incompatible type; report them for manual migration instead.

  • isaacsim.core.experimental.actuators (0.1.6 -> 0.2.1)

    • Added

      • ArticulationActuators.from_actuators: optionally accept a list of DOF names per ActuatorConfig to build one grouped actuator.

    • Changed

      • Batch compatible USD-authored actuators across degrees of freedom (DOFs) and robot instances.

      • ArticulationActuators.from_actuators: preserve supplied group order instead of DOF order.

    • Fixed

      • Support Newton 1.6 drive classes throughout the actuator API.

  • isaacsim.core.experimental.materials (0.10.0 -> 0.11.1)

    • Fixed

      • VisualMaterial: handle shaderless USD materials in discovery APIs without raising an exception.

    • Removed

      • NonVisualMaterial no longer creates a UsdPreviewSurface on shaderless materials. Author a visual material before wrapping a prim that must render.

  • isaacsim.core.experimental.objects (0.9.0 -> 0.9.1)

    • Fixed

      • Mesh.get_normals() returns an empty array when normals are unauthored.

  • isaacsim.core.experimental.prims (1.10.8 -> 1.12.1)

    • Added

      • Support Newton gravity and Coriolis compensation forces.

      • Support Newton incoming joint wrench and projected DOF force queries.

      • Add Newton joint-friction getters and setters.

    • Fixed

      • RigidPrim.get_masses no longer authors mass properties on prims without an authored mass.

      • Prim.ensure_api supports multi-apply API schemas.

      • Coordinate shared prim-data reader initialization across wrappers.

      • Preserve non-unit scale when setting USDRT poses.

      • Preserve regex views when unrelated prims are deleted.

      • Preserve root-wrench and all joint compensation forces for floating articulations; reject unexpected backend tensor layouts.

      • Report invalidated physics simulation views as invalid.

      • Return independent arrays from no-index articulation DOF getters.

      • Support one-sided Fabric local-pose updates.

  • isaacsim.core.experimental.utils (0.23.0 -> 0.23.3)

    • Fixed

      • Preserve non-unit scale when setting USDRT poses.

      • Validate empty prim-path expressions, honor stage overrides for prim mutations, and support saving opened stages in place.

      • update_app: reject UI and asynchronous contexts that would re-enter the Kit update loop.

  • isaacsim.core.includes (2.9.4 -> 2.9.5)

    • Fixed

      • Prefer robot-schema joint names, retaining legacy fallback with a deprecation warning and preserving link names.

  • isaacsim.core.nodes (5.10.13 -> 5.10.15)

    • Fixed

      • Prefer robot-schema joint names, retaining legacy fallback with a deprecation warning and preserving link names.

      • OnPhysicsStep keeps graph-level physics callbacks valid when one of multiple nodes is deleted.

  • isaacsim.core.rendering_manager (0.5.1 -> 0.5.3)

    • Fixed

      • Use world-space eye and up vectors when positioning a parented camera.

      • ViewportManager.set_camera_view: preserve the camera-local center of interest while accepting world-space targets.

  • isaacsim.core.simulation_manager (1.17.1 -> 1.17.4)

    • Fixed

      • Avoid simulation-manager crashes when USD notices or physics-scene APIs run without an active USD context or stage.

      • Initialize native PhysicsScene objects constructed from SdfPath or UsdPrim inputs.

      • Preserve omitted default callback settings when updating selected simulation lifecycle callbacks.

  • isaacsim.core.telemetry (2.0.2 -> 2.0.3)

    • Fixed

      • Register common telemetry schemas when telemetry is enabled at runtime.

  • isaacsim.cortex.behaviors (2.0.18 -> removed)

    • Removed

      • Remove the deprecated Cortex behaviors extension.

  • isaacsim.cortex.examples (0.2.8 -> removed)

    • Removed

      • Remove the deprecated Cortex examples extension.

  • isaacsim.cortex.framework (1.0.20 -> removed)

    • Removed

      • Remove the deprecated Cortex framework extension.

  • isaacsim.physics.newton (1.0.6 -> 1.1.1)

    • Added

      • Add NewtonSolverOutputConfig for configuring contact-force and articulation solver outputs before physics initialization.

      • Add an optional MuJoCoSolverConfig.cone override.

    • Changed

      • Update Newton to 1.6.1, MuJoCo and MuJoCo Warp to 3.12.0, newton-usd-schemas to 0.5.0, and Warp to 1.17.0.

      • NewtonStage.state_temp is no longer allocated and stays None.

    • Fixed

      • Stabilize the nut-and-bolt example with elliptic friction cones and stiffer contacts, and reject nonfinite poses.

      • Use coordinate-layout indices for Newton position targets, including floating-base robots.

      • NewtonStage.simulate: keep state_0 on one buffer for any num_substeps, with or without CUDA graph capture. Even substep counts with the graph ran physics at (N-1)/N speed and dropped tensor-view writes; odd counts without it made tensor views read a stale state every other step.

      • NewtonStage.step_sim: recapture the CUDA graph when num_substeps changes on the live configuration; the old graph kept replaying the captured substep count.

  • isaacsim.physics.newton.tensors (0.6.4 -> 0.8.1)

    • Added

      • Add joint-friction getters and setters to the articulation view.

      • Compute articulation gravity and Coriolis compensation forces using Newton inverse dynamics on CPU and GPU.

    • Changed

      • Update Newton to 1.6.1.

    • Fixed

      • Honor boolean masks in articulation and rigid-body masked setters.

      • Preserve articulation indices when gathering batched dynamics tensors.

      • Rigid body, articulation and rigid contact views report check() == False and fail their queries once Newton re-initializes and rebuilds its model and state_0, instead of reading released buffers; recreate the views.

      • Transform body-local Newton rigid-contact points into world space correctly on CPU and GPU.

      • Use coordinate-layout indices for Newton position targets, including floating-base robots.

  • isaacsim.physics.newton.ui (1.6.1 -> 1.7.0)

    • Added

      • Add UI widgets for Newton MPM and deformable schemas.

    • Changed

      • Update Newton USD schema compatibility to 0.5.0.

  • isaacsim.pip.newton (0.11.0 -> 0.12.1)

    • Changed

      • Update Newton to 1.6.1, MuJoCo and MuJoCo Warp to 3.12.0, mujoco-usd-converter to 0.6.1, newton-usd-schemas to 0.5.0, and Warp to 1.17.0.

  • isaacsim.replicator.experimental.domain_randomization (1.2.10 -> 1.2.12)

    • Fixed

      • Use the normal distribution’s standard deviation directly when deriving material-property bucket ranges.

      • OgnIntervalFiltering: emit a flat index array and always write outputs:indices, so frames with no matching environment clear the previous selection.

  • isaacsim.replicator.experimental.mobility_gen (0.3.0 -> 0.5.0)

    • Added

      • Separate instance-ID segmentation from semantic segmentation in readers, storage, and legacy recording.

      • Add replay write-interval tracking and separate rendered and written frame counts.

    • Fixed

      • Preserve 32-bit instance IDs losslessly, clear stale instance-ID data during replay, and load only common non-image state so recorded images do not overwrite newly rendered outputs.

      • NuRec replay preserves requested RGB and depth flags instead of forcing RGB-only output.

  • isaacsim.replicator.grasping (1.1.6 -> 1.1.7)

    • Fixed

      • load_config reports unknown component names as failed; save_config warns about them.

      • load_config skips malformed grasp_phases entries with a warning instead of raising TypeError.

  • isaacsim.replicator.nurec_utils (0.1.2 -> 0.1.3)

    • Changed

      • Enable Gaussian accumulated depth and albedo in the default Sensor Processing Graph (SPG) render configuration, with a maximum of 360 Gaussians to accumulate.

  • isaacsim.replicator.teleop (0.4.3 -> 0.5.0)

    • Added

      • Add a single-arm IK profile with velocity-driven base locomotion.

      • Add curated floating-gripper scene specifications and matching profiles for Robotiq 2F-85 and Hand-E, alongside the existing xArm example.

      • Resolve gripper assets from asset-root fragments, URIs, absolute local files, or definition-relative files through resolve_floating_gripper_asset_path_async.

      • Support definition-relative grasp maps alongside portable gripper overlays.

    • Changed

      • Bundle Isaac Teleop 1.4.145.

    • Fixed

      • Check CloudXR IPC liveness before connecting; preserve callbacks after failed connections and reject duplicate providers.

      • Keep rigid-body velocity commands independent of the transform backend and clear stage-bound input state on reset.

      • Load explicit gripper locations without asset-root discovery and validate asset accessibility before modifying the stage.

      • Resolve arm IK joints by name so gripper DOFs are not overwritten; correct LM joint-limit indexing and avoid division by zero at singularities.

      • VisualCuesManager: a stage that disappears after an update callback starts no longer logs an uncaught error.

  • isaacsim.replicator.teleop.ui (0.4.4 -> 0.4.5)

    • Changed

      • Rename Write Backend to Transform Backend to clarify its scope.

      • Require a stopped timeline to load profiles or enable Debug Mode; disabling Debug Mode remains available during playback.

    • Fixed

      • Reset Debug Mode, input sliders, and profile validation status when the stage closes.

  • isaacsim.replicator.writers (1.5.6 -> 1.5.7)

    • Fixed

      • Pose annotator: emit an empty result for empty semantic types and accept extent records with trailing metadata.

  • isaacsim.robot.experimental.wheeled_robots (0.2.14 -> 0.2.17)

    • Changed

      • HolonomicController’s max_linear_speed, max_angular_speed, and max_wheel_speed now default to None (no limit) instead of 1.0e20, and the solver’s internal conditioning scale is derived from the commanded speed instead of from the saturation limit.

    • Fixed

      • Fix Stanley-controller steering when cross-track distance exceeds pi meters; linear distance is no longer normalized as an angle.

      • Restrict mecanum angles to the range (0, 180) degrees so the Kaya example no longer drives backward.

      • Raise a clear error when a robot has no mecanum wheel joints.

      • Verify that HolonomicController’s max limits are non-negative and finite when provided.

  • isaacsim.robot.policy.examples (7.2.0 -> 7.2.3)

    • Changed

      • Build one grouped Newton actuator per exported actuator group instead of one per joint.

    • Fixed

      • Defer policy sample construction until an example is selected so asset-server authentication cannot block application startup during browser registration.

      • Preserve authored MuJoCo joint-limit solver references when applying Newton defaults.

  • isaacsim.robot.poser (2.0.0 -> 2.0.1)

    • Fixed

      • Adapt the spatial Jacobian to end-effector point velocity in the LM solver.

      • Invalidate articulation handles after stage and topology changes without retaining the USD stage.

      • Keep scaled-robot FK and IK consistent with posed joint distances and orientations.

      • Preserve uniform authored scale and coincident joint anchors while posing; support matrix, Euler, pivot, and units-resolution stacks while rejecting nonuniform scale and shear before editing.

      • Validate pose imports and native joint-value representability before USD writes.

  • isaacsim.robot.poser.ui (1.1.4 -> 1.1.5)

    • Fixed

      • Report unsupported pose transforms at UI callback boundaries and stop failed tracking initialization.

  • isaacsim.robot.schema (7.0.2)

    • Fixed

      • In the shared schema wheel, migrate legacy joint-name overrides only in the edit-target layer. Preserve canonical names, referenced assets, and stronger-layer values.

  • isaacsim.robot.schema.ui (0.3.7 -> 0.4.1)

    • Added

      • Add an independent Show connections preference to the Inspector toolbar, enabled by default.

    • Fixed

      • Coalesce hierarchy changes during an active worker and apply only the latest generation.

      • Discard deferred results when the stage, robot selection, view mode, or window visibility changes.

      • Preserve existing masking-layer mute state.

      • Preserve independent joint masks and bypass reparenting when the other Robot Inspector control is cleared.

      • Resolve hierarchy joint positions from the supplied source stage.

      • Stop cancelled hierarchy refreshes from consuming replacement requests after the Inspector reopens.

  • isaacsim.robot.surface_gripper (3.6.3 -> 3.7.1)

    • Added

      • Add undoable CreateSurfaceGripperPrim command.

    • Fixed

      • Accept NumPy and Warp property arrays and validate batches before writing.

      • Avoid blocking main-thread gripper calls on the asynchronous simulation completion notification.

      • Handle reentrant prim notifications safely and allow other Python threads to run during native gripper operations.

      • Parallelize distinct batch paths while preserving repeated-path order and safe result writes.

      • Reject non-gripper prims and diagnose removed or changed prims.

      • Remove invalid active attachments even when force limits are disabled or joints are settling.

      • Support root-level gripper creation and correct command redo placement.

      • Synchronize API batches with physics and lifecycle callbacks while retaining independent-path parallelism.

  • isaacsim.robot.surface_gripper.ui (3.1.4 -> 3.1.5)

    • Fixed

      • Create grippers on stages without a default prim, with undo and redo support.

  • isaacsim.robot.wheeled_robots.nodes (0.1.12 -> 0.1.14)

    • Fixed

      • DifferentialController: warn only once per reset for zero-delta updates while retaining invalid-step skipping and negative-delta warnings.

  • isaacsim.robot_motion.controllers (0.3.2 -> 0.4.0)

    • Changed

      • Load controllers from the independently built isaacsim-robot-motion wheel, preserving public imports.

  • isaacsim.robot_motion.cumotion (1.4.0 -> 1.5.0)

    • Changed

      • Load cuMotion from the independently built isaacsim-robot-motion wheel, preserving public imports.

  • isaacsim.robot_motion.cumotion.examples (0.5.1 -> 0.5.2)

    • Fixed

      • Complete timeline stop processing before re-enabling RMPflow controls after reset.

  • isaacsim.robot_motion.experimental.motion_generation (7.1.2 -> 7.2.0)

    • Changed

      • Load experimental motion generation from the independently built isaacsim-robot-motion wheel, preserving the isaacsim.robot_motion.experimental.motion_generation import path and public API.

    • Fixed

      • Preserve authored transforms during world binding and use composed world scales, allowing uniformly scaled ancestors.

  • isaacsim.robot_motion.motion_generation (8.2.9 -> 9.0.0)

    • Removed

      • Remove the decision-framework RMPflowCortex registrations for Franka and UR10 and their dedicated policy configuration files. Use a supported motion policy and provide application-level sequencing.

  • isaacsim.robot_setup.assembler (3.3.6 -> 3.3.9)

    • Added

      • RobotAssembler.resolve_joint_body_path() returns the rigid body a joint body target binds to.

    • Fixed

      • An empty mount frame is now rejected with an explanatory error; automatic mount frame creation was never implemented.

      • Assembling onto a mount frame with no rigid body at or above it now raises ValueError instead of producing an articulation that silently exposes only the base robot’s degrees of freedom.

      • Author saved assembly payloads in the requested variant even when the session overrides its selection.

      • Await durable saves, report failures in the UI, and retain failed sessions for retry or cancellation.

      • Hide previous assembly variants only for the active session and restore them on cancellation.

      • Keep finalization and rollback in one event-loop turn to preserve unrelated queued stage edits on save failure.

      • Preserve saved assembly payloads when a new assembly is cancelled or fails to begin.

      • Reject articulated attachments without a base articulation before editing the stage, excluding the attachment subtree from base-root lookup.

      • Report validation errors from Assemble and Simulate while preserving editable assembly controls.

      • begin_assembly() validates both mount frames before editing the stage, so a rejected assembly leaves no session sublayer behind.

  • isaacsim.robot_setup.collision_detector (0.2.2 -> 0.2.3)

    • Fixed

      • Reuse viewport selection groups instead of registering new ones after each teardown, which drained the 255-group pool.

      • Skip highlighting a body when no selection group is available, instead of colouring the viewport’s default group.

      • Use the group that already holds a body’s colour when its focal icon is clicked, so the highlight no longer shows a stale colour or none.

  • isaacsim.robot_setup.gain_tuner (3.10.0 -> 3.11.0)

    • Added

      • GainTuner.apply_self_collision_override / restore_self_collision_override / self_collision_override_active: disable articulation self-collisions under PhysX and Newton for a test run, without modifying the asset. Applying reports when a stronger opinion on the stage keeps them enabled.

    • Changed

      • Joint setup and the inertia link tree read the robot’s robotJoints and robotLinks relationships, including nested robots those relationships name.

    • Fixed

      • Joint setup names the articulation DOFs missing from the robot schema.

      • Joints listed after a DOF the robot schema does not cover no longer show another joint’s name and type.

  • isaacsim.robot_setup.gain_tuner.ui (2.2.0 -> 2.2.1)

    • Fixed

      • Apply Disable self collisions under PhysX and Newton, including robots with only the base UsdPhysics articulation schema, and report when the override cannot take effect.

      • Restore self-collisions on stop or interrupted runs without modifying the asset or leaving unsaved stage edits.

      • The timeline no longer restarts every frame when a robot reports DOFs but no tunable joints.

  • isaacsim.robot_setup.sysid (2.2.3 -> 3.2.0)

    • Added

      • Add paired untuned and tuned validation replays, sample-weighted root mean square error (RMSE), and grouped validation plots.

      • Add configurable absolute and relative validation thresholds and schema-version-4 run reports with regression assessments.

      • Check parameter and residual support for PhysX, Isaac-hosted Newton, standalone Newton MuJoCo, and differentiable Featherstone.

      • Accept schema-version-3 run reports with a warning, without requiring fields introduced in version 4.

      • Headless jobs report their stage, telemetry, preflight, and preparation phases through the progress callback.

      • Note during quick-start synthesis when backend capabilities are unknown and parameter support could not be checked.

      • Report sample counts for each pooled validation channel so differences between untuned and tuned coverage are visible.

      • The pre-solve check logs the elapsed time of each phase.

      • SysIdPreparedRun.telemetry_quality exposes the assessment made during preparation.

      • default_bounds_for_type: expose default parameter search bounds.

      • simulation.newton.mujoco_substeps: support MuJoCo substeps for stiff drives.

    • Changed

      • Make USD and live PhysX writeback transactional, defer persistence until validation completes, and verify composed USD on the selected instance before refreshing live parameters. Reports distinguish authored USD changes from verified live application.

      • Use Newton and automatic explicit actuators for differentiable Featherstone recipes.

      • Batch paired validation on bridges that support cloning and reduce rollout-cache hashing and tensor transfers.

      • Backend diagnostics are logged through carb.log_* under each module’s channel instead of standard Python logging.

      • Bump the tuning-assessment payload to schema version 2, which adds unpaired-channel reporting.

      • Differentiable runs automatically increase Featherstone substeps up to 16 and report friction adjustments or failures with remediation guidance.

      • Evaluate the paired validation comparison before USD writeback. A regression is logged and remains advisory; it does not block the write.

      • Headless job outcomes, solve and analysis outputs report telemetry quality for the chunks the solve used.

    • Removed

      • Remove the standalone pip wheel. Run system identification in the Isaac Sim Python environment.

      • runtime.CarbLogHandler, runtime.install_carb_logging, and runtime.remove_carb_logging. The backend logs through Carbonite directly.

    • Fixed

      • Do not classify training replay as successful holdout validation.

      • Keep authored launch parameters separate from analytical presolve seeds.

      • Improve command-lag estimation and headless solve startup with high-rate telemetry. Headless solves and headless_sysid_analyze.py assess telemetry quality once per run.

      • Honor the minimum chunk duration when splitting pre-tagged excitation phases, and return chunks in start order from both split paths.

      • Keep differentiable Featherstone gradients finite with high joint friction and varying link mass, center of mass, and inertia.

      • Keep the “no selected parameter was written” diagnostic visible when the follow-up rollback also fails.

      • Map explicit PD actuators to DOFs from their target indices so grouped ArticulationActuators batches resolve correctly.

      • Plot the untuned validation overlay against its own timestamps rather than the tuned pass’s.

      • Preserve Newton friction and armature on USD reload and avoid applying drive damping twice.

      • Preserve multi-physics USD composition when persisting promoted actuators, and stop discarding the only copy when the promotions already live in the write-target layer.

      • Protect the session layer during writeback rollback when it is the write target, and fail the run when a target layer cannot be snapshotted rather than leaving the write silently unprotected.

      • Recognize Newton 1.6 neural-drive metadata and prefer Drive* classes in standalone rollouts.

      • Remove the emptied temporary actuator scope when promotions are discarded.

      • Report no validation verdict when a solve diverges on a held-out chunk. Each RMSE channel is now pooled over the chunks that both the untuned and tuned passes completed, so a chunk that blows up only after tuning can no longer drop out of one pool and leave a confident improvement.

      • Reset diverged MuJoCo worlds to prevent CUDA crashes and report a failure with substep guidance when all worlds diverge.

      • Resolve differently-cased engine, physics-backend, actuator-runtime, and solver selections to the same backend.

      • Return nonzero exit statuses from headless tools when runs fail.

      • Stop overwriting authored USD joint friction with a fabricated value of 1.0 when joint friction is not a selected parameter.

      • Stop reusing a cached bridge setup between trajectory chunks that share a leading prefix but differ later, which could replay a chunk at the wrong physics substep rate.

      • Support fully locked D6 root joints in gravity and inverse-dynamics feedforward and clarify unsupported-joint errors.

      • Use coordinate-layout position targets for standalone Newton rollouts with floating-base robots.

      • Warn in the tuning assessment when a validation channel diverged on a chunk in exactly one pass, instead of reporting a clean pass.

  • isaacsim.robot_setup.sysid.ui (1.2.2 -> 1.5.0)

    • Added

      • Show untuned and tuned RMSE in Results, and label fallback comparisons that do not use holdout data.

      • MuJoCo substeps setting under Newton (MuJoCo) advanced simulation settings.

    • Changed

      • Expose backend, actuator runtime, and promotion-policy choices without silently changing them on an engine switch. Export these choices and invalidate prior capability checks when they change.

      • Verify writeback on the selected instance before refreshing live parameters.

      • Replace draggable numeric controls with bounded exact-entry fields and organize Data controls for analysis windows, holdouts, manual chunks, and previews.

      • Avoid duplicate run-state notifications when loading telemetry or applying recipes through exact-entry numeric fields.

      • Telemetry preview messages are logged through carb.log_* instead of standard Python logging.

    • Fixed

      • Clamp a recipe-supplied automatic-holdout training share to the same 5-95 range the field accepts.

      • Deliver exact-entry value-changed and end-edit callbacks consistently, and re-clamp the displayed value when a bound changes.

      • Exporting a run report assesses telemetry quality once instead of twice.

      • Read parameter baselines from the selected physics backend, refresh on engine or backend changes, and retry failed reads.

      • Honor the requested decimal precision in exact-entry float fields.

  • isaacsim.robot_setup.virtual_gantry (0.3.0 -> 0.3.1)

    • Fixed

      • Resetting an empty gantry manager no longer modifies global debug-draw state.

  • isaacsim.ros2.core (1.11.0 -> 1.11.2)

    • Fixed

      • Handle unavailable render-product and OS metadata in ROS 2 helper APIs.

      • camera_info_utils.compute_relative_pose: fix stereo CameraInfo extrinsics for verged and tilted rigs by reading relative rotation directly, avoiding an incorrect degrees-to-radians conversion.

  • isaacsim.ros2.sim_control (1.6.8 -> 1.6.12)

    • Fixed

      • Auto-generated entity names now use absolute USD prim paths.

      • Defer ROS 2 message imports until simulation-control helpers are called so extension discovery succeeds when the ROS 2 bridge is unavailable.

      • Prefer robot-schema joint names, retaining legacy fallback with a deprecation warning and preserving link names.

      • SetEntityState reports an unavailable stage instead of logging an error before a stage is open.

  • isaacsim.ros2.urdf (2.3.9 -> 2.3.11)

    • Fixed

      • Serialize robot-description requests so rapid node changes cannot leave a replacement request pending.

  • isaacsim.sensors.experimental.physics (3.3.0 -> 4.0.0)

    • Added

      • Add get_sensor_reading_view() for read-only, zero-copy live raycast and joint-state buffers with dynamic validity.

    • Changed

      • get_sensor_reading() returns an owned snapshot independent of later updates or sensor destruction.

      • JointStateSensorReading attributes are read-only; its owned arrays and DOF-name list remain mutable in place. Construct a new reading to replace captured scalar values.

    • Fixed

      • Keep existing raycast hit-path buffers valid when a physics step writes a longer prim path.

  • isaacsim.sensors.experimental.rtx (1.9.0 -> 2.0.1)

    • Added

      • Allow RtxCamera to wrap or create multiple camera prims from a path list or regular expression.

      • Allow TiledCameraSensor to accept tick_rate, schemas, and attributes when authoring cameras.

    • Changed

      • TiledCameraSensor.authoring_object returns the RtxCamera wrapper.

      • Warn before replacing a shared prim’s authored tick rate and when tiled cameras use different rates; the first camera controls the batch.

      • Mark Orbbec Gemini 335 as a regular camera until its asset supports the single-view depth-sensor APIs.

    • Fixed

      • Reject multi-prim inputs to single-prim runtimes before modifying the stage.

  • isaacsim.storage.native (1.11.0 -> 1.12.2)

    • Changed

      • Update the default, US, and China asset roots to Isaac Sim 6.2.

      • persistent.isaac.asset_root.timeout: increase the default asset-root check timeout from 5 to 10 seconds.

    • Fixed

      • Enforce the timeout for synchronous asset-server checks and cancel unresponsive requests.

  • isaacsim.test.utils (0.14.8 -> 0.15.0)

    • Added

      • Add trigger_menu_item and MenuUITestCase.trigger_menu_item for headless-safe menu action testing.

  • isaacsim.ucx.core (1.4.6 -> 1.5.0)

    • Added

      • Add tagReceiveWithRequest for request-based receives.

    • Changed

      • A timeoutMs value of 0 polls once. Use g_kUcxInfiniteTimeout for an indefinite wait.

  • isaacsim.ucx.nodes (1.6.10 -> 1.8.1)

    • Changed

      • Use Holoscan sensor schemas and shared tensor joint definitions (protocol 2), breaking compatibility with legacy Isaac OS wire codecs.

      • Store capture timestamps in Header.capture_timestamp_ns and IMU orientation as an xyzw quaternion with validity flags.

      • Expose optional joint-command stiffness and damping outputs, and preserve image tensor element types and layouts, including planar metadata.

      • UCXSubscribeJointCommand receives asynchronously. inputs:timeoutMs bounds the pending request; 0 leaves it outstanding.

      • Publisher inputs:timeoutMs defaults to 100 ms. A value of 0 is clamped to 100 ms with a one-time warning.

    • Fixed

      • Avoid application hangs when a peer is connected but no message is pending.

      • Keep cancelled-request buffers alive until completion and drain in-flight image sends during teardown.

      • Repost receives when the subscriber port or tag changes.

      • Validate required joint-command arrays and accept empty optional gain tensors as absent.

  • isaacsim.util.debug_draw (3.2.6 -> 3.2.8)

    • Fixed

      • Avoid crashes when drawing during stage close or reopen, or when drawing a spline with an empty point list.

  • omni.cuopt.service (1.3.5 -> 1.3.6)

    • Security

      • Reject authentication and function-list redirects before sending a request to another endpoint.

  • omni.isaac.core_archive (5.4.0 -> 5.4.1)

    • Fixed

      • Prevent charset-normalizer import failures caused by mixed native and Python module implementations during startup.

  • omni.pip.cloud (1.5.5 -> 1.5.7)

    • Changed

      • Update bundled boto3 and botocore to 1.41.5 and s3transfer to 0.15.0.

    • Removed

      • Remove the unused bundled aioboto3 dependency.

  • omni.pip.compute (1.9.5 -> 1.9.7)

    • Changed

      • Update opencv-python-headless-noffmpeg to 4.14.0.94rc3 for bundled image-codec security fixes.

  • omni.usd.schema.newton (1.4.0 -> 1.5.0)

    • Changed

      • Update newton-usd-schemas to 0.5.0.