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Manipulator and Wheeled Robot Extension Split#

Isaac Sim 6.0 deprecates the isaacsim.robot.manipulators, isaacsim.robot.manipulators.examples, isaacsim.robot.manipulators.ui, and isaacsim.robot.wheeled_robots extensions. Manipulator examples use isaacsim.robot_motion.examples. Wheeled-robot APIs and nodes use the new experimental robot extensions and node packages.

Concept Mapping#

Deprecated extension

Replacement

isaacsim.robot.manipulators

Prefer isaacsim.robot_motion.examples and the current motion-generation APIs.

isaacsim.robot.manipulators.examples

isaacsim.robot_motion.examples.

isaacsim.robot.manipulators.ui

No direct UI package replacement; use the experimental examples and supported robot setup tools.

isaacsim.robot.wheeled_robots

isaacsim.robot.experimental.wheeled_robots for Python APIs and isaacsim.robot.wheeled_robots.nodes for OmniGraph nodes.

Migration Approach#

Follow these steps to migrate each extension:

  1. Replace extension dependencies on deprecated packages with the matching replacement extension.

  2. Move manipulator example imports to isaacsim.robot_motion.examples.

  3. For wheeled-robot OmniGraph workflows, enable isaacsim.robot.wheeled_robots.nodes and update graph node references.

  4. Re-run robot examples after migration and verify joint commands, controller output, and graph execution during timeline playback.

Dependency Changes#

Manipulator examples:

# Isaac Sim 5.x
"isaacsim.robot.manipulators.examples" = {}

# Isaac Sim 6.0
"isaacsim.robot_motion.examples" = {}

Wheeled robot Python APIs and OmniGraph nodes are split:

# Isaac Sim 5.x
"isaacsim.robot.wheeled_robots" = {}

# Isaac Sim 6.0
"isaacsim.robot.experimental.wheeled_robots" = {}  # Python controllers/robots
"isaacsim.robot.wheeled_robots.nodes" = {}         # OmniGraph nodes

Removed APIs and APIs Without a Direct Replacement#

Removed or non-drop-in API

Migration guidance

isaacsim.robot.manipulators.ui

No standalone UI package replaces it. The interactive pick-place and follow-target examples now live in isaacsim.robot_motion.examples. Custom apps that embedded the old UI need to provide their own panel or use the examples as reference code.

Legacy manipulator example module paths

Franka and UR10 follow-target, pick-place, and stacking examples moved to isaacsim.robot_motion.examples. Update imports and extension dependencies instead of enabling the deprecated examples package.

OmniGraph nodes formerly bundled in isaacsim.robot.wheeled_robots

Isaac Sim 6.0 moves these nodes from the deprecated monolithic extension to isaacsim.robot.wheeled_robots.nodes. Enable that package for graphs.

AckermannControllerDeprecated node and ackermann_controller_deprecated.py

Isaac Sim 6.0 removes this node. Use the current Ackermann controller node from isaacsim.robot.wheeled_robots.nodes or the experimental Python controller API.

isaacsim.robot.experimental.wheeled_robots OmniGraph nodes

The experimental Python API package does not include nodes; it is Python-only. Use isaacsim.robot.wheeled_robots.nodes for graph-based workflows.

Notes#

The experimental robot extensions intentionally split Python APIs, examples, and OmniGraph nodes into separate packages. This keeps runtime dependencies smaller, but it means custom apps should explicitly enable the packages they use instead of relying on a monolithic legacy extension.

Validation Checklist#

Verify the following before merging the migration:

  • Custom apps enable separate Python API and node packages where needed.

  • Saved Action Graphs no longer reference removed deprecated Ackermann nodes.

  • Wheeled robot controllers still use the same wheel radius, wheel base, and wheel DOF names/indices after import updates.

  • Manipulator examples still load the intended robot assets and execute follow-target or pick-place controllers after timeline stop/start.

  • Any old embedded manipulator UI usage is replaced by an app-owned panel or by running the migrated examples directly.