Renaming Extensions in Isaac Sim#
Why were extensions renamed in Isaac Sim 4.5?#
We chose to rename and split extensions for Isaac Sim 4.5 to support ongoing brand standardization, and improve modularity for end-users who may choose to build custom apps using Isaac Sim extensions, including Isaac Lab.
How will renamed extensions affect my Isaac Sim workflows?#
Extension renaming will affect your workflows in three primary ways:
Setting names referencing specific extensions have changed (eg.
/exts/omni.isaac.ros2_bridge/ros_distrohas become/exts/isaacsim.ros2.bridge/ros_distro).OmniGraph node names referencing specific extensions have changed (eg.
omni.isaac.core_nodes.IsaacReadSimulationTimehas becomeisaacsim.core.nodes.IsaacReadSimulationTime).Extension APIs have been renamed and/or moved (eg.
omni.isaac.sensor.LidarRtxhas becomeisaacsim.sensors.rtx.LidarRtx).
How should I update my existing Isaac Sim workflows for Isaac Sim 4.5?#
Isaac Sim 4.5 has introduced the isaacsim.core.deprecation_manager extension to support backwards compatibility with existing end-user workflows for Isaac Sim 4.5. While we cannot
guarantee perfect compatibility, this section will explain how the new extension can simplify updating your workflows, and what steps you should take to fully transition to Isaac Sim 4.5.
Note
In addition to renaming extensions, to improve startup time compared to Isaac Sim 4.2, several extensions were removed from the Isaac Sim 4.5 base Kit app.
If after trying the solutions below you are still encountering errors related to missing or renamed extensions, consider manually enabling the extension via the
isaacsim.core.utils.extensions.enable_extension API.
Renaming settings#
The isaacsim.core.deprecation_manager extension will automatically copy values of settings associated with a deprecated Isaac Sim extension
to its corresponding new extension’s settings. For example, if you execute the following:
./isaac-sim.sh --/exts/omni.isaac.ros2_bridge/ros_distro=humble
the isaacsim.core.deprecation_manager extension will automatically set the value of /exts/isaacsim.ros2.bridge/ros_distro to humble.
If your workflow relies on custom values for Isaac Sim extension settings, rename the settings by referencing the table below.
Renaming OmniGraph nodes#
The isaacsim.core.deprecation_manager extension will automatically update the prim type of any OmniGraph node belonging to a deprecated Isaac Sim extension
when a scene opens, and print the changes to the console along with a message in the UI. The scene must be saved to retain the changes.
Note
If the OmniGraph node is part of a reference or payload asset in the scene, the name change will be registered as a delta to the reference in the opened scene.
isaacsim.core.deprecation_manager will not recursively updated USD files. To ensure the referenced USD is properly updated, you will need to
manually open the referenced USD on its own and then save it with the updated OmniGraph nodes.
Any USD asset shipped with Isaac Sim 4.5 that includes OmniGraph nodes will already be updated to use the new extensions’s OmniGraph nodes.
Renaming extension APIs#
All deprecated extensions have been included in Isaac Sim 4.5. When loaded from a kit app, they will print deprecation warning(s) indicating to which new extension(s) APIs have been moved.
To remove those deprecation warnings when running your own workflows, migrate your workflows to the new extensions by updating Python import statements to use the new extensions, eg.
from omni.isaac.sensor import LidarRtx
would become
from isaacsim.sensors.rtx import LidarRtx
Renamed Extensions#
The following table specifies the new extension name(s) for deprecated Isaac Sim extensions.
Note
Several deprecated extensions (eg. omni.isaac.sensor) have been split into multiple new extensions,
and some new extensions (eg. isaacsim.sensors.physx) contain APIs from multiple deprecated extensions.
Deprecation warnings, as described above, will reflect these changes.
Isaac Sim 4.2 Extension(s) |
Isaac Sim 4.5 Extension(s) |
|---|---|
omni.exporter.urdf |
isaacsim.asset.exporter.urdf |
omni.importer.mjcf |
isaacsim.asset.importer.mjcf |
omni.importer.urdf |
isaacsim.asset.importer.urdf |
omni.isaac.app.selector |
isaacsim.app.selector |
omni.isaac.app.setup |
isaacsim.app.setup |
omni.isaac.articulation_inspector |
omni.physx.inspector |
omni.isaac.asset_browser |
isaacsim.asset.browser |
omni.isaac.benchmark.services |
isaacsim.benchmark.services |
omni.isaac.benchmarks |
isaacsim.benchmark.examples |
omni.isaac.block_world |
isaacsim.asset.importer.heightmap |
omni.isaac.camera_inspector |
isaacsim.util.camera_inspector |
omni.isaac.cloner |
isaacsim.core.cloner |
omni.isaac.conveyor |
isaacsim.asset.gen.conveyor |
omni.isaac.conveyor.ui |
isaacsim.asset.gen.conveyor.ui |
omni.isaac.core_nodes |
isaacsim.core.nodes |
omni.isaac.core |
isaacsim.core.api |
omni.isaac.cortex |
isaacsim.cortex.framework |
omni.isaac.cortex.sample_behaviors |
isaacsim.cortex.behaviors |
omni.isaac.debug_draw |
isaacsim.util.debug_draw |
omni.isaac.diff_usd |
isaacsim.util |
omni.isaac.doctest |
isaacsim.test.docstring |
omni.isaac.examples |
isaacsim.examples.interactive |
omni.isaac.extension_templates |
isaacsim.examples.extension |
omni.isaac.franka |
isaacsim.robot.manipulators.examples |
omni.isaac.gain_tuner |
isaacsim.robot_setup.gain_tuner |
omni.isaac.grasp_editor |
isaacsim.robot_setup.grasp_editor |
omni.isaac.import_wizard |
isaacsim.robot_setup.import_wizard |
omni.isaac.jupyter_notebook |
isaacsim.code_editor.jupyter |
omni.isaac.kit |
isaacsim.simulation_app |
omni.isaac.lula_test_widget |
isaacsim.robot_motion.lula_test_widget |
omni.isaac.lula |
isaacsim.robot_motion.lula |
omni.isaac.manipulators |
isaacsim.robot.manipulators |
omni.isaac.manipulators.ui |
isaacsim.robot.manipulators.ui |
omni.isaac.menu |
isaacsim.gui.menu |
omni.isaac.merge_mesh |
isaacsim.util.merge_mesh |
omni.isaac.motion_generation |
isaacsim.robot_motion.motion_generation |
omni.isaac.nucleus |
isaacsim.storage.native |
omni.isaac.occupancy_map |
isaacsim.asset.gen.omap |
omni.isaac.occupancy_map.ui |
isaacsim.asset.gen.omap.ui |
omni.isaac.physics_utilities |
isaacsim.util.physics |
omni.isaac.proximity_sensor |
isaacsim.sensors.physx |
omni.isaac.quadruped |
isaacsim.robot.policy.examples |
omni.isaac.range_sensor |
isaacsim.sensors.physx |
omni.isaac.range_sensor.examples |
isaacsim.sensors.physx.examples |
omni.isaac.range_sensor.ui |
isaacsim.sensors.physx.ui |
omni.isaac.robot_assembler |
isaacsim.robot_setup.assembler |
omni.isaac.robot_description_editor |
isaacsim.robot_setup.xrdf_editor |
omni.isaac.ros_bridge |
isaacsim.ros1.bridge |
omni.isaac.ros2_bridge |
isaacsim.ros2.bridge |
omni.isaac.ros2_bridge.robot_description |
isaacsim.ros2.urdf |
omni.isaac.scene_blox |
isaacsim.replicator.scene_blox |
omni.isaac.sensor |
isaacsim.sensors.camera |
omni.isaac.surface_gripper |
isaacsim.robot.surface_gripper |
omni.isaac.surface_gripper.ui |
isaacsim.robot.surface_gripper.ui |
omni.isaac.synthetic_recorder |
isaacsim.replicator.synthetic_recorder |
omni.isaac.tests |
isaacsim.test.collection |
omni.isaac.tf_viewer |
isaacsim.ros2.tf_viewer |
omni.isaac.throttling |
isaacsim.core.throttling |
omni.isaac.ui_template |
isaacsim.examples.ui |
omni.isaac.ui |
isaacsim.gui.components |
omni.isaac.unit_converter |
omni.usd.metrics_assembler |
omni.isaac.universal_robots |
isaacsim.robot.manipulators.examples |
omni.isaac.utils |
isaacsim.core.utils |
omni.isaac.version |
isaacsim.core.version |
omni.isaac.vscode |
isaacsim.code_editor.vscode |
omni.isaac.wheeled_robots |
isaacsim.robot.wheeled_robots |
omni.isaac.wheeled_robots.ui |
isaacsim.robot.wheeled_robots.ui |
omni.isaac.window.about |
isaacsim.app.about |
omni.kit.property.isaac |
isaacsim.gui.property |
omni.replicator.agent.camera_calibration |
isaacsim.replicator.agent.camera_calibration |
omni.replicator.agent.core |
isaacsim.replicator.agent.core |
omni.replicator.agent.ui |
isaacsim.replicator.agent.ui |
omni.replicator.isaac |
isaacsim.replicator.domain_randomization |
Deprecated Extensions#
The following table specifies extensions deprecated, but not renamed, in Isaac Sim 4.5.
Deprecated Extensions |
|---|
omni.isaac.dynamic_control |
omni.isaac.repl |
Removed Extensions#
The following table specifies extensions removed from Isaac Sim 4.5.
Removed Extensions |
|---|
omni.isaac.benchmark_environments |
omni.isaac.cortex_sync |
omni.isaac.dofbot |
omni.isaac.examples_nodes |
omni.isaac.partition |
omni.isaac.physics_inspector |
omni.isaac.robot_benchmark |
omni.isaac.ocs2 |