4.1.0#
General#
Based on Kit 106.0.1
Both the Workstation app and Container access assets directly from the Cloud by default.
PhysX#
Debug visualization can now display friction impulses for contacts
Fixed: Debug visualization for contact points had an artificial one frame delay that was removed
Fixed: Articulation Mimic Joint cloning (that is, replication) was not working
Fixed: Articulation Joint Friction Coefficient and Maximum Velocity Limit were not updated at runtime with GPU simulation
It is now possible to query actual GPU buffer use through the simulation statistics interface
get_physx_scene_statistics, which can help size the GPU buffer parameters in the Physics Scene API for large RL scenesFixes for possible crashes in triggers, articulation parsing, joints visualization, physics inspector and others
Joint state validation added into asset validation tool
The visual debugger OmniPVD added fixes to streaming of objects in RL scenarios, using the GPU pipeline and cloning. Also added fixes to reading of articulations and joints in such scenes in the viewer.
Assets/ Import#
Added materials for UR20 / UR30 robot arms
Tuned physics parameters for the 2f 85 and 2f 140 manipulators
Replicator#
Improved pointcloud annotator performance
Improved semantic segmentation annotator performance
Improved performance when scenes have many graph nodes
Fixed: Bug causing error when writing to attributes of dtype=float4
Fixed: Issue where detaching a specific NodeWriter instance would detach all node writers of the same type
Fixed: Error when applying
randomizer.rotationon prims with opOrders that don’t already includerotateXYZFixed: Issue with pointcloud annotator with a multi-GPU system
Fixed: BasicWriter writing to both S3 and local disk when specifying S3 parameters
Robots#
Added Ackermann controller class
Deprecated Ackermann steering node and replaced it with ackermann controller node
Sensors#
Lidar flat scans report correct azimuth range and provide timestamp of first beam in scan
Fixes many small errors and warnings when using
omni.isaac.sensorextension
ROS#
Adds
IsaacROS2CameraInfoHelperOGN node as preferred method to publish ROS2 CameraInfo messages for monocular and stereo cameras, including correct stereo rectification parameterAdded support for ROS2 Bridge with WSL2 on Windows
MetroSim#
ORO extension
Known issue: running on windows has regex import error; this will get fixed in the next release
Supports recursively pack boxes of boxes - description files are added as examples.
A mutable attribute specific seed that can be calculated through macros is supported.
Macros are improved to have relative and absolute macros, for referencing in a compact way. Also you can freely refer to lists recursively with ~ grammar.
Docs are updated to explain these new features
ORA extension
Improved the agent spawning such that it checks the Axis-Aligned Bounding Box to prevent spawning inside the static obstacles
SDG now runs synchronously by default
Kit SDK Version#
Changed: 106.0.0 -> 106.0.1
Dependencies#
Added#
omni.sensors.tiled: 0.0.4
omni.kit.converter.common: 500.0.8
omni.kit.converter.dgn: 500.0.4
omni.kit.converter.dgn_core: 500.0.12
omni.kit.converter.hoops: 500.0.5
omni.kit.converter.hoops_core: 500.0.12
omni.kit.converter.jt: 500.0.4
omni.kit.converter.jt_core: 500.0.12
Removed#
omni.blast: 0.15.2
omni.entity.spawn.bundle: 0.2.3
omni.entity.spawn.core: 0.2.3
omni.entity.spawn.ui: 0.4.3
omni.flowusd.bundle: 1.0.2
omni.flowusd.ui: 106.0.1
omni.genproc.bundle: 105.1.0
omni.genproc.ui: 105.1.2
omni.graph.window.particle.system: 105.1.22
omni.kit.tools.mergemesh: 0.1.6
omni.ocean: 0.4.8
omni.paint.brush.attributes: 1.3.1
omni.paint.brush.scatter: 105.1.7
omni.paint.brush.scripting: 105.0.2
omni.paint.system.bundle: 105.10.2
omni.paint.system.core: 105.10.1
omni.paint.system.ui: 105.1.6
omni.particle.system.bundle: 105.1.0
omni.particle.system.core: 105.1.8
omni.particle.system.ui: 105.1.13
omni.schema.audio.boom: 0.5.0
omni.tools.distribute: 105.0.4
omni.tools.randomizer: 105.0.2
omni.kit.converter.cad_core: 201.0.2
omni.kit.converter.common: 201.0.2
omni.kit.converter.dgn_core: 201.0.2
omni.kit.converter.jt_core: 201.0.2
omni.houdini_engine.core: 0.3.0
omni.houdini_engine.hda_loader: 0.2.0
omni.isaac.dofbot: 0.3.2
Changed#
omni.isaac.sim.base: 4.0.0 -> 4.1.0
omni.replicator.core: 1.11.8 -> 1.11.14
omni.sensors.nv.common: 1.0.1 -> 1.2.2-isaac
omni.sensors.nv.lidar: 1.0.1 -> 1.2.2-isaac
omni.sensors.nv.ids: 1.0.1 -> 1.1.0-isaac
omni.sensors.nv.materials: 1.0.0 -> 1.2.1-isaac
omni.sensors.nv.radar: 1.0.1 -> 1.2.1-isaac
omni.sensors.nv.ultrasonic: 1.0.2 -> 1.2.1-isaac
omni.sensors.nv.wpm: 1.0.0 -> 1.2.1-isaac
semantics.schema.editor: 0.3.4 -> 0.3.6
semantics.schema.property: 1.0.2 -> 1.0.3
omni.importer.mjcf: 1.1.0 -> 1.1.1
omni.anim.people: 0.3.3 -> 0.4.1
omni.replicator.object: 0.2.16 -> 0.3.4
omni.replicator.agent.core: 0.2.3 -> 0.3.1
omni.replicator.agent.ui: 0.2.3 -> 0.3.1
omni.replicator.agent.camera_calibration: 0.2.3 -> 0.3.1
omni.anim.curve_editor: 105.17.8 -> 105.17.9
omni.anim.navigation.core: 106.0.1 -> 106.0.2
omni.anim.navigation.ui: 106.0.1 -> 106.0.2
omni.asset_validator.ui: 0.11.3 -> 0.11.5
omni.flowusd: 106.0.14 -> 106.0.15
omni.graph.action: 1.101.1 -> 1.102.1
omni.graph.action_nodes: 1.21.3 -> 1.23.0
omni.graph.io: 1.8.1 -> 1.9.1
omni.graph.nodes: 1.141.2 -> 1.143.0
omni.graph.scriptnode: 1.18.2 -> 1.19.1
omni.graph.telemetry: 2.12.1 -> 2.13.1
omni.graph.tutorials: 1.26.1 -> 1.27.1
omni.graph.ui: 1.67.1 -> 1.70.0
omni.graph.ui_nodes: 1.24.1 -> 1.25.1
omni.graph.window.action: 1.25.2 -> 1.26.0
omni.graph.window.core: 1.107.1 -> 1.109.0
omni.graph.window.generic: 1.23.1 -> 1.24.0
omni.kit.asset_converter: 2.1.10 -> 2.1.11
omni.kit.environment.core: 1.3.10 -> 1.3.11
omni.kit.pointclouds: 1.3.4 -> 1.3.5
omni.kit.widget.extended_searchfield: 1.0.27 -> 1.0.28
omni.kit.xr.advertise: 106.0.50 -> 106.0.71
omni.kit.xr.core: 106.0.50 -> 106.0.71
omni.kit.xr.example.usd_scene_ui: 106.0.50 -> 106.0.71
omni.kit.xr.profile.ar: 106.0.50 -> 106.0.71
omni.kit.xr.profile.common: 106.0.50 -> 106.0.71
omni.kit.xr.profile.tabletar: 106.0.50 -> 106.0.71
omni.kit.xr.profile.vr: 106.0.50 -> 106.0.71
omni.kit.xr.scene_view.core: 106.0.50 -> 106.0.71
omni.kit.xr.scene_view.utils: 106.0.50 -> 106.0.71
omni.kit.xr.system.cloudxr: 106.0.50 -> 106.0.71
omni.kit.xr.system.cloudxr41: 106.0.50 -> 106.0.71
omni.kit.xr.system.openxr: 106.0.50 -> 106.0.71
omni.kit.xr.system.playback: 106.0.50 -> 106.0.71
omni.kit.xr.system.steamvr: 106.0.50 -> 106.0.71
omni.kit.xr.telemetry: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.common: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.generic: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.htcvive: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.magicleap: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.metaquest: 106.0.50 -> 106.0.71
omni.kit.xr.ui.stage.common: 106.0.50 -> 106.0.71
omni.kit.xr.ui.window.profile: 106.0.50 -> 106.0.71
omni.kit.xr.ui.window.viewport: 106.0.50 -> 106.0.71
omni.services.pip_archive: 0.13.3 -> 0.13.5
omni.services.transport.server.http: 1.3.0 -> 1.3.1
omni.usd.fileformat.e57: 1.2.1 -> 1.2.3
omni.warehouse_creator: 0.3.5 -> 0.4.0
omni.warp: 1.1.0 -> 1.2.1
omni.asset_validator.core: 0.11.3 -> 0.11.5
omni.kit.converter.cad: 201.0.2 -> 201.1.0-rc.4
omni.scene.optimizer.bundle: 106.0.4 -> 106.0.15
omni.scene.optimizer.core: 106.0.4 -> 106.0.15
omni.scene.optimizer.ui: 106.0.4 -> 106.0.15
omni.warp.core: 1.1.0 -> 1.2.1
omni.kit.livestream.core: 4.3.5 -> 4.3.6
omni.kit.streamsdk.plugins: 4.4.1 -> 4.5.1
Extensions#
omni.isaac.asset_browser
Changed
Update asset paths to 4.1
omni.isaac.benchmark.services
Added
Ability to store custom measurements in a specified phase
omni.isaac.benchmarks
Changed
Remove additional redundant benchmarks now covered by standalone scripts
omni.isaac.camera_inspector
Fixed
Camera Inspector erroring out on creating a new stage
omni.isaac.conveyor
Removed
Forcing Kinematics Body on Conveyor Creation
Changed
Added Velocity Variable in omnigraph to control the conveyor speed
omni.isaac.conveyor.ui
Changed
Moved the assets source to a configurable setting
Moved the config path to a configurable setting
Moved the Conveyor Track Builder to UI.
Fixed
Fixed an edge case when the first conveyor piece is added - to select the second connection point if it’s a multi-connection (so it always goes forward)
omni.isaac.core
Added
Allow find_matching_prim_paths in prim utils to return paths with valid physics APIs applied
Added a prim_type argument that supports filtering the prims returned by type: articulation and rigid_body are currently supported.
ArticulationView.pause_motion() and ArticulationView.resume_motion() methods
Changed
Make omni.kit.material.library optional, it must be enabled when using OmniGlass helper class
Changed prim_path_expr for XFormPrim, RigidPrimView, ArticulationView, RigidContactView to accept a list of regular expressions.
SimulationContext and World classes do not change camera on initialization, set_camera_view must be called separately
Fixed
Fixed ArticulationController to handle joint indices along with Nan values in the target actions.
Fixed passing filter_path_expressions as list of list of str in RigidContactView
get_articulation_root_api_prim_path for inputs like
`/World/Frank_*`instead of`/World/Franka_.*`
omni.isaac.core_nodes
Added
Add OgnIsaacPassthroughImagePtr node
register_node_writer_with_telemetry and register_annotator_from_node_with_telemetry helper functions
Fixed
ArticulationController Node allowing for multiple types of control
omni.isaac.debug_draw
Added
Added DebugDrawRayCast node to visualize arrays of raycasts
omni.isaac.examples
Removed
Deprecated omni.isaac.dofbot and removed its usage.
Changed
Base sample calls set_camera_view as it was removed from World/SimulationContext
omni.isaac.gain_tuner
Fixed
Fixed bug where robot with zero-gains causes a math error in trying to take log(0).
omni.isaac.kit
Added
ovd=”/path/to/capture/” argument that simplifies capturing of physics debugging data
Changed
omni.isaac.version, omni.ui, omni.kit.window.title are not required to use SimulationApp in headless mode
omni.isaac.menu
Removed
Deprecated omni.isaac.dofbot and removed its usage.
omni.isaac.motion_generation
Removed
Deprecated omni.isaac.dofbot and removed its usage.
Changed
omni.isaac.nucleus
Changed
Set Cloud assets path as default
Updated to 4.1 asset path
Updated get root path functions to throw a runtime error if the root path is not found
omni.isaac.range_sensor
Changed
Added deprecation warnings for the physx ultrasonic sensors
omni.isaac.range_sensor.ui
Fixed
missing omni.kit.context_menu dependency
omni.isaac.repl
Changed
Deprecate extension in favor of the vscode extension
omni.isaac.robot_description_editor
Fixed
Fixed behavior of Robot Description Editor for assets with nested link paths.
Fixed bug with toggling robot visibility causing an error on STOP.
omni.isaac.ros2_bridge
Added
added a joint state subscriber test where the jointNames are connected
OgnIsaacROS2CameraInfoHelper node to generate CameraInfo message with correct rectification parameters for stereo cameras
camera_info_utils.py module contains utility functions for generating CameraInfo message
Setting publish_multithreading_disabled for toggling ROS2 publishers to publish without multithreading
Removed
IsaacReadSimulationTime removed from RTXLidarROS2PublishFlatScan, timestamp now comes from OgnIsaacComputeRTXLidarFlatScan.
Changed
OgnIsaacROS2CameraHelper:sensor_type == camera_info deprecated in favor of OgnIsaacROS2CameraInfoHelper. This node will use camera_info_utils.py module until the functionality is fully removed in a future release.
Moved and renamed Navigation example in the menu to under Isaac Examples -> ROS2 -> Navigation -> Carter Navigation
Fixed
JointState Subscriber fills in nans when receiving empty arrays for command modes that are not used
RTX laser_scan topic name in rtx_lidar standalone example
omni.isaac.ros_bridge
Fixed
Crash on twist subscriber node release if it wasn’t run at least one frame
omni.isaac.sensor
Added
Fixed bug with rigid body sleep threshold
Setting the rigid body parent sleep threshold to 0 to prevent physics to go to sleep.
Setting the contact reporter threshold to 0 to make sure all contacts are reported.
OgnIsaacPrintRTXSensorInfo - uses Python bindings to decompose and print GMO struct
LightBeam Sensor class that uses raycasts to detect if a beam is broken
Omnigraph nodes to read data from this light beam sensor
Fixed
OgnIsaacComputeRTXLidarFlatScan publishes timestamp of first beam in scan
Isaac Sim Lidar profiles omit deprecated fields and include new default fields
Default sensor profiles omit deprecated fields and include new default fields
Warns when user provides invalid sensor config paths
Corrects OgnIsaacComputeRTXLidarFlatScan azimuthRange output to span true min/max azimuth of scan
omni.isaac.synthetic_recorder
Added
Verbose checkbox to print the recorder status (for example, current frame number) to the console
Changed
Capture loop is now using orhcestrator.step in a loop instead of orchestrator.run guaranteeing that the recorder is always in sync with the simulation (useful if custom or external randomizations are changing the stage)
omni.isaac.ui
Added
Added ability to trigger Button and StateButton clicks programmatically
Fixed
Fixed scrolling window set_num_lines() function argument type
omni.isaac.wheeled_robots
Added
Ackermann controller class
Ackermann controller Omnigraph node
Changed
Deprecated old OgnAckermann OmniGraph node
omni.usd.schema.isaac
Added
Added lightbeam sensor to Isaac Sensor Schema, bumping version
4.0.0#
General#
Based on Kit 106.0 Beta
Compatibility Checker app to check Isaac Sim’s system requirements and compatibility
VS Code integration (VS Code version of the Script Editor)
JupyterLab/Jupyter Notebook integration (Jupyter version of the Script Editor)
Install Isaac Sim using a Python package manager such as pip [experimental]
Improved Cache/Shader Experience
Use EcoMode to reduce GPU consumption when not simulating
Performance improvements
Documentation and Workflow Tutorials#
Isaac Lab: Migration guide when moving from IGE, OIGE, and Orbit
Isaac Lab: Tiled RGB/Depth rendering tutorial
Isaac Lab: Cloud-based workflow deployment using Isaac Automator tutorial
Assets and Import: OpenUSD Fundamentals
Assets and Import: Simulation Fundamentals
Assets and Import: Using the unified mesh merging tool
Assets and Import: How and where to break articulation loop
Assets and Import: Omnigraph Menu shortcuts
SDG: Example Snippet: Motion Blur
SDG: Example Snippet: Data Access at Custom FPS
SDG: Example Randomizer: Physics Based Volume Filling
SDG: Custom Replicator OG-based Randomization Nodes
SDG: Synthetica Tutorial
ROS: ROS 1 to ROS 2 Tutorial. Using the ros1_bridge package for interfacing with Isaac Sim ROS 2 nodes from ROS Noetic.
Isaac Lab#
Unified RL platform
Open source with BSD-3 license
Perf improvements
Multi-GPU training based on torch.distributed()
Recording capabilities (Animation and video)
Tiled RGB/depth rendering with an example
PhysX#
Mimic Joint Support
Contact Friction Force Reporting
Improved Physics Inspector
Simulation Data Visualizer
Improved Cloning time
TGS Solver Per-Iteration Gravity
Rigid Body Acceleration Getter
Solver Residual Reporting
Compliant Contact Update
Improved OmniPVD
SDF Collision Improvements
Assets / Import#
Wizard Guide for how to import robot and tuning process
URDF importer: Import sensors from URDF schema
URDF importer: Import via ROS 2 robot description
New assets:
Sensors
Sick safety Lidars
Ouster OS2, meshes for existing Ouster Lidars (OS0, OS1)
Meshes for Velodyne VLS-128
Meshes for Sensing cameras and model updates
Environments
Large empty warehouse
Large full warehouse (digital twin)
Small warehouse (galileo lab digital twin)
Rivermark plaza
Robot
AgileX Limo Robot and ROS2 drive support
Universal Robot UR20
Universal Robot UR30
Nova Dev Kit
Legged Robot
Unitree Go2
Unitree B2
Boston Dynamics Spot
Humanoid
1X Neo
Unitree H1
Agility Digit
Fourier Intelligence GR1
Sanctuary AI Phoenix
XiaoPeng PX5
Nova Carter physical dynamics improvements
Nova Dev Kit ROS2 support
Forklift_b (Crown SP3200) ROS2 support with cameras and Lidars
SDG#
Custom writer for Pose estimation
COCO writer
Sensors#
Enable RTX non-visual materials
Radar support
Performance improvements to OmniGraph based sensor pipelines
IMU sensor backend change to Tensor API
ROS#
Performance improvements for image based publishers
Support CycloneDDS for Linux
Deprecation: ROS and ROS 2 Foxy
Improved ROS 2 launch support end-to-end workflow
Added ROS 2 Internal Libraries option and ROS 2 sourcing validation within the App Selector
Add a QoS for publishers and subscribers
Introduced static publisher option for TF publishers
Omnigraph node to expose articulation states (joint position, velocity, effort)
Generic ROS 2 publisher and subscriber for any available message type
Generic ROS 2 service server and client for any available message type
ROS 2 service omnigraph node to list prims and their attributes, as well as read and write a specific attribute
Render the ROS 2 TF transformation tree in the viewport
Publishing the robot description topic
Import URDF from ROS 2 publisher
Use of system time in all publishers and helper nodes
New Common Omnigraph shortcut to auto-generate preset ROS2 Action Graphs.
Manipulation#
Enhanced robot description editor for Lula/cuMotion
Gains tuning tool for Articulations
Full pose (including orientation) support in task-space global planner (JT-RRT)
MetroSim#
ORO extension
ORA (previously ORC) extension
Anim.People extension
cuOpt#
cuOpt extension
Extensions#
omni.exporter.urdf
Added
Replace absolute path and uri path options with mesh path prefix option
Parse velocity and effort limits from USD and include in URDF
Add UsdGeom.Cylinder to error message as one of the valid geom prim types
Change to not include camera mesh files when exporting from Isaac Sim extension
Add mesh file path char length check
Add NodeType.SENSOR and functionality to include sensor frames in the URDF
Fixed
Fix cylinder radii check
Fix checking for duplicate prim names
Fix issue with joint limits set to inf for revolute joints, set to continuous joint instead
Fix cylinder scaling issue
omni.isaac.app.selector
Added
Added button to clear caches
Dropdown to use internal ROS 2 libraries when applicable
Warning messages for when ROS 2 bridge is selected and env vars are incorrectly configured
Added checkbox to enable eco mode on startup
Changed
ROS1 bridge and ROS 2 Foxy are marked as deprecated
Replace gnome-terminal with x-terminal-emulator to support non-gnome-based desktops
Fixed
Forward the internal environment variables to support configuring the ROS bridge for x-terminal-emulator
Working directory for wrapped gnome-terminal called using x-terminal-emulator
omni.isaac.app.setup
Added
isaac.startup.create_new_stage carb setting to enable/disable stage creation on app startup, enabled by default
omni.isaac.articulation_inspector
Deprecated
Add Deprecation Warning
omni.isaac.asset_browser
Added
Add IsaacLab folder
Changed
Update asset paths to 4.0
omni.isaac.assets_check
Changed
Updated path to the nucleus extension
omni.isaac.benchmark.services
Added
Ability to enable/disable frametime and runtime separately when starting a phase
User can now specify per-benchmark metadata when using BaseIsaacBenchmark, which will persist across phases
IsaacStartupTimeRecorder measures startup time, collected only during “startup” phase
OsmoKPIFile writer logs KPIs to console.
Adds new BaseIsaacBenchmark for non-async benchmarking
Adds new standalone examples for non-async benchmarking
Adds OsmoKPIFile writer to publish KPIs compatible with OSMO’s Kratos backend
Changed
Removes dependency on omni.isaac.core_nodes
Cleaned up imports
OsmoKPIFile backend now prints one KPI file per phase, rather than one KPI file per workflow
Fixed
Error when zero frames were collected
Frametime collector skips frametime collection if start time is None (that is, if
set_phase(start_recording_time=False)is calledROS 2 bridge camera helper
omni.isaac.benchmark_environments
Added
Deprecation warning
omni.isaac.benchmarks
Added
Nova Carter ROS 2 benchmark for 3 Nova Carters 1 3d Lidar each for benchmarking multi-robot nav
Added 1200p eight cameras benchmark for Hawk cameras
Added Nova Carter Benchmarks (non ROS)
Removed
Removed Carter V1 benchmarks
Changed
Remove redundant benchmarks that are already covered by standalone scripts
Renamed previous Nova Carter Benchmarks to Nova Carter ROS 2
Moved helpers from benchmark services extension
omni.isaac.block_world
New Extension
omni.isaac.cloner
Changed
Updated path to the nucleus extension
Support executing cloner on non-context stage
omni.isaac.common_includes
New Extension
omni.isaac.conveyor
Removed
Unused config file
Changelog
omni.isaac.conveyor.ui
New Extension
omni.isaac.core
Added
Added getting world poses through fabric selections in XFormPrimView through usd=False argument
Warning notice for TensorFlow int32 tensor to interoperability function docstrings
Friction reporting API to GeometryPrim and GeometryPrimView
Friction reporting API
Added crash metadata
Utility function to get the prim path that has the Articulation Root API
Interops utility to convert tensors/arrays between ML frameworks (Warp, PyTorch, JAX, TensorFlow, and NumPy)
Changed
reset_xform_properties arguments defaults to False instead of True in the prim classes initialization.
Get the prim path that has the Articulation Root API when the ArticulationView class is instantiated
Changed the find_matching_prim_paths util to a cpp implementation for better perf
Update asset paths to 4.0
Add examples to docstrings, fix type annotations, and improve description. Affected modules: omni.isaac.core.scenes (scene, scene_registry)
Fixed
Added deprecation warning for particle cloth
numpy.bool deprecation
removed the deprecated physX force sensor
Fixed get_prim_object_type function in prim utils
Check for PhysicsScene USD type to identify whether a physics scene is already defined
Always set update to USD flag when fabric is enabled
Fix undefined variables when clone=False for force APIs
omni.isaac.core_archive
Added
pyperclip==1.8.0
Changed
Update Gunicorn to 22.0.0
omni.isaac.core_nodes
Added
Time Splitter node
Telemetry for writers and annotators
New Isaac Read System Time node to allow users to incorporate latest system time or system time at specified simulation frame (swh frame number)
Isaac Get Wold Pose Node
Articulation State node
Run One Frame Simulation Node
Real Time Factor Node
Changed
Read camera info node no longer accept viewport as input.
Moved header files into extension.
Removed usePath checkbox from OgnIsaacArticulationController node. Now if the robotPath field is populated, targetPrim is ignored.
GUI users won’t notice any behavior changes. Standalone workflow users must ensure any references to usePath in the script is removed.
Fixed
Reset articulation controller inputs on stop
Check for joint indices need to account for the possibility of an array input
Update IStageUpdate usage to fix deprecation error
Fault with Articulation Controller node when it receives no joint name or indices inputs
Bug in Isaac Get Wold Pose Node’s orientation
Multi GPU support in RGBA to RGB node
Render products not disabling on stop
RGBA to RGB node running twice per frame
Issue where render product is not cleared when opening a stage
Render product resolution and camera prim not updating
Camera info issue when path was blank
omni.isaac.cortex
Added
Deprecation tag
Changed
Updated path to ur10
omni.isaac.cortex.sample_behaviors
Added
Deprecation tag
omni.isaac.cortex_sync
Added
Deprecation tag
omni.isaac.debug_draw
Changed
Moved header files to extension
Fixed
Update IStageUpdate usage to fix deprecation error
omni.isaac.doctest
New Extension
omni.isaac.dofbot
Changed
Updated path to the nucleus extension
omni.isaac.dynamic_control
Changed
Extension is deprecated
Removed the use of deprecated physX jointSolverForces
Moved header files to extension
omni.isaac.examples
Removed
Franka Nut & Bolt Example
Fixed
Quadruped example to clear callbacks after it’s complete
Updated Path Planning Example for compatibility with Lula 0.10.0
omni.isaac.examples_nodes
Changed
Updated omnigraph nodes to use per instance state instead of internal state
omni.isaac.extension_templates
Fixed
Fixed code for handling Articulation selection in Configuration Tooling Template. The issue arose from a change in behavior in Core get_prim_object_type().
Fixed code for populating drop-down menu with Articulations in Configuration Tooling Template. This issue arose with Kit behavior changes on stage and timeline events.
omni.isaac.gain_tuner
New Extension
omni.isaac.gym
Changed
Deprecate extension, use Isaac Lab going forward
Get SimulationApp from isaac_sim instead of omni.isaac.kit
Fixed
Fix livestream for gym with new app for running with livestream
omni.isaac.gym.benchmark
Removed
Removes deprecated function calls from benchmarks.
omni.isaac.import_wizard
New Extension
omni.isaac.jupyter_notebook
New Extension
omni.isaac.kit
Added
SIGINT handler to SimulationApp to force exit when ctrl-c is pressed
hide_ui to Simulation App to force UI visibility
max_gpu_count config argument
Changed
When headless is set to true, the UI is hidden for performance, hide_ui can be set to false to re-enable the GUI
Rename isaac_sim import statement to
isaacsimMeasures startup time if omni.isaac.benchmark.services is loaded
Fixed
Missing app icon issue
Crash on exit when using tracy
omni.isaac.lula
Changed
Upgraded Lula from release 0.10.0 to 0.10.1. This fixes a bug in the global planner interface introduced in 0.10.0 that caused a fatal error to be logged when a path couldn’t be found.
Upgraded Lula from release 0.9.1 to 0.10.0. This new version includes a much-improved collision sphere generator and enhancements to the task-space global planner (JT-RRT), including support for full-pose targets and improved performance. The global planner enhancements entail some parameter changes that break backward compatibility, as does a generalization of the kinematics API to support cases where only a subset of c-space coordinates have acceleration and/or jerk limits.
omni.isaac.lula_test_widget
Fixed
Fixed logic around selecting Articulation on STOP/PLAY given new behavior in Core get_prim_object_type() function.
omni.isaac.manipulators
Added
end_effector_prim_path argument added to the SingleManipulator alongside the end_effector_prim_name
Gripper Controller Node
automatically populated omnigraph for gripper controller
pointer to open up the python script that generates the omnigraph for the menu shortcut graphs
a menu item for the extension to allow for populating common controller omnigraphs
automatically populated omnigraph for position and velocity controller of any articulation object
Changed
Extension factored into multiple components. See omni.isaac.manipulators.ui
Enabled “add to existing graph” for all the shortcuts
Moved all Python code into a Python folder. Deleted omni/isaac/manipulators
omni.isaac.manipulators.ui
New Extension
omni.isaac.menu
New Extension
omni.isaac.merge_mesh
Added
Code-Accessible Merge Mesh functionality (API)
Merge Command
Disable source assets when merging
Changed
Combine Materials now creates the materials in the provided path if they don’t exist
Fixed
Fix Broken empty Material binding check
omni.isaac.ml_archive
Changed
removed omni.pip.torch dependency, torch is now directly part of this archive
added torch==2.2.2+cu118, torchvision==0.17.2+cu118, torchaudio==2.2.2+cu118, filelock==3.13.4, fsspec==2024.3.1, mpmath==1.3.0, networkx==3.3, sympy==1.12
added Nvidia lib pip packages
Fixed
Make platform specific
omni.isaac.motion_generation
Added
Added acceleration and jerk limits to all robot description files.
Added getters for acceleration and jerk limits to Trajectory Generator.
Added support for full-pose targets in Lula RRT algorithm.
Changed
Changed behavior of get_acceleration_limits() and get_jerk_limits() output to track changes in Lula
Updated path to UR10
omni.isaac.nucleus
Changed
Updated to 4.0 asset path
Reduced timeout
omni.isaac.occupancy_map
Changed
Refactored into components
Moved header files to extension
Fixed
Issues with instanceable assets when using non physx collision mesh option.
Cell size not updating based on the current stage units. On stage load the cell size is set to 5cm or 0.05m depending on the units.
omni.isaac.occupancy_map.ui
New Extension
omni.isaac.physics_utilities
Fixed
Issue when applying collisions to prims that have no points
Slow performance when clearing physics apis on large scenes
omni.isaac.quadruped
Changed
Updated unitree folder structure and opt to use unitree models with sensors attached
Reduced the frequency of osqp solver from every physics step to every 5 physics steps
Contact sensor now uses the interface instead directly of the Python wrapper
omni.isaac.range_sensor
Changed
Extension refactored into multiple components. See omni.isaac.range_sensor.ui and omni.isaac.range_sensor.examples
Moved header files to extension
omni.isaac.range_sensor.examples
New Extension
omni.isaac.range_sensor.ui
New Extension
omni.isaac.robot_assembler
Added
Added test cases for different placements of Articulation Roots. This creates a matrix of possible configurations to support between two robots being attached.
Changed
Robot Assembler moves the Articulation Root of the attach robot to the top-level prim in the hierarchy while it is attached, and reverses this on detach.
Updated path to the nucleus extension.
Fixed
Fixed bug where single robot checkbox in UI workflow had no effect when True.
Fixed bug with AUTO_CREATE_FRAME miscomputing local poses for rigid bodies.
Fixed bug with computing fixed joint transforms to non-root robot links.
Fixed bug where collision masking fails when base Articulation has an Articulation root nested under the top-level path.
Fixed bug where JointStateAPIs were being overwritten when nesting prims on STOP and then assembling on the first frame of PLAY. The fix is to simply set the values back to zero at the right moment.
Fixed bug where attach frames for a robot can include its fixed joint (which causes a failed assembly) when the Articulation Root is on the fixed joint.
Fixed bug where Articulation selection function can be called with an invalid prim path and cause a harmless (but visible) error.
Fixed bug where robot assembler could not list frames for assets that have Articulation roots on a link in the Articulation.
omni.isaac.robot_benchmark
Added
Deprecation warning
omni.isaac.robot_description_editor
Added
Add support for importing and exporting Curobo XRDF files
Add maximum acceleration and jerk properties to Command Panel
Fixed
Fixed Articulation DropDown population and corresponding extension behavior.
Fixed logic around selecting Articulation on STOP/PLAY given new behavior in Core get_prim_object_type() function.
omni.isaac.ros2_bridge
Added
Resetting output of the Twist Subscriber to zeros upon stopping simulation
RTX camera and Lidar omnigraph shortcuts uses RunOneSimulationFrame
Isaac ROS NITROS Bridge integration for publishing images on Linux
Telemetry for writers and annotators
Generic Omnigraph ROS client and server nodes
Implemented static TF publishing in OgnROS2PublishTransformTree
New QoSProfile node to create any preset or custom qos profile to use with ROS 2 Omnigraph nodes
QoS Profile inputs to all ROS 2 Publisher, Subscriber, Service Omnigraph nodes
A button to open documentation links for OmniGraph shortcuts
Add frameSkipCount option to ROS 2 RTX Lidar and Camera Helper Nodes to modify the rate of Lidar and point cloud publishing
Added quality of service support for ROS 2 bridge subscribers and publishers
Option to use system timestamp for ROS 2 RTX Lidar and ROS 2 Camera Helper Nodes
Generic ROS 2 Publisher node
Isaac Sim now supports CycloneDDS (Linux ROS 2 Humble only)
ROS2 Service Prim node to list prims and their attributes, as well as read and write a specific attribute
OG shortcuts to RTX lidar, odometry, tf pub
Menu shortcuts to generate ROS Omnigraphs
Added ROS2SubscribeTransformTree omnigraph node
ROS 2 service
Dynamic ROS 2 message for services and actions
Carb setting publish_without_verification for toggling ROS 2 publishers to publish regardless of subscription count on a topic
Added Show Debug View flag to RTX Lidar Helper
Publishers now check to see topic subscription count before filling data and publishing.
Changed
Foxy support is deprecated
Default subscriber topic in ROS 2 jointstate omnigraph shortcut uses /joint_command and not /cmd
Fixed Nova Carter multiple robot navigation and Carter Stereo standalone examples from crashing
OgnROS2PublishImage does gpu->cpu copy on a separate cuda stream to improve performance
Stereo offset input in ROS Camera Info and Helper nodes to accept camera baseline in meters used to compute Tx, Ty.
Updated ROS 2 Camera and RTX Lidar unit tests for publishing using system timestamp
Improve dynamic message API and add support for JSON data
Used IsaacCreateRenderProduct for the camera OG shortcuts
Default to enable semanticlabels for some camera topics
Improved Image publisher performance
Generic ROS 2 Subscriber node
Added profile zones for the image publisher
ROS 2 Bridge no longer requires the vision_msgs for activation. However, if you would like to use Isaac Sim publishers dependant on vision_msgs, install it on the system or use Isaac Sim internal libraries.
Renamed “Isaac Examples > ROS” menu to “Isaac Examples > ROS2”
- Fixed
OgnROS2PublishLaserScan angle inputs now provided in degrees rather than mixed degrees/radians
Rclpy loading on Windows
Memory leak when ROS 2 libs were not loaded properly
Multi GPU support
RGB being published twice per frame
Missing DLLs for local windows usage
omni.isaac.ros2_bridge.robot_description
New Extension
omni.isaac.ros_bridge
Added
Resetting output of the Twist Subscriber to zeros upon stopping simulation
Telemetry for writers and annotators
Add frameSkipCount option to RTX Lidar and Camera Helper Nodes to modify the rate of Lidar and point cloud publishing
Option to use system timestamp for RTX Lidar and Camera Helper Nodes
Added Show Debug View flag to RTX Lidar Helper
Changed
Extension is deprecated
Updated all ros_comm packages to v1.16.0
Stereo offset input in ROS Camera Info and Helper nodes to accept camera baseline in meters used to compute Tx, Ty
Updated Camera and RTX Lidar unit tests for publishing using system timestamp
Fixed
OgnROS1PublishLaserScan angle inputs now provided in degrees rather than mixed degrees/radians
Roscore not resetting correctly
Multi GPU support
RGB being published twice per frame
omni.isaac.scene_blox
Changed
Updated path to the nucleus extension
omni.isaac.sensor
Added
Added get_rgb and get_depth methods to CameraView class returning the data reshaped into camera batches
Added get_rgb_tiled and get_depth_tiled methods to CameraView class returning the tiled data
Added test_camera_view_sensor.py with golden images for testing get_rgb, get_depth, get_rgb_tiled, and get_depth_tiled methods
omni.isaac.sensor.gmo_types module, containing ctypes structures for omni.sensors extension types
Added device argument with “cpu” or “cuda” for get_rgba/get_depth functions of camera_view.py
Added get_data to camera_view.py returning the raw annotator data
Added additional Ouster Lidar configs for OS0, OS1, REV6, REV7, and OS2 Lidars
CameraView class for managing multiple cameras and rendering used tiled_sensor from replicator
Telemetry for writers and annotators
Added Sick sensor config files for multiScan136, multiScan165, picoScan150
IsaacComputeRTXLidarFlatScan Node now works with Solid State Lidar.
Official version of SICK microscan3 config, and marked old one as legacy.
Removed
up/downElevationDeg and start/endAzimuthDeg because they are no longer used
Deprecated functions: get_sensor_readings, get_sensor_num_readings, get_sensor_sim_readings
Sensor visualization. (Please use omnigraph nodes to visualize the sensors)
Changed
SICK Lidar configs now include rangeOffset parameter
Using wpm radar
Get radar transform from camera
Updated Sensing camera names
Removed visualization attributes
Deprecated get raw data function
Includes RTX nonvisual material support
Tensor API support for IMU sensor
Changed physics based sensor to be created on play and destroyed on stop
Replaced current sensor config files for tim781
Changed XT-32 Lidar name from PandarXT-32 to XT-32
use intensityScalePercent in IsaacComputeRTXLidarPointCloud if present
Location of default and temp Lidar config files set to ${app}/../extsbuild/omni.sensors.nv.common/data/lidar/
Replaced internalState with perInstanceState for the ogn nodes
Updated path to the nucleus extension
Converted read IMU and contact sensor nodes to C++
Added read latest data input flag to the read contact sensor node (default to false)
Renamed Isaac Read Contact Sensor to Isaac Read Contact Sensor Node
Moved header files to extension
Fixed
OgnROS2PublishLaserScan switches buffer index calculation to use monotonically-increasing integer, fixing bug where floating-point math would occasionally result in buffer never being filled
OgnIsaacPrintRTXRadarInfo prints radar info correctly
OgnROS2PublishLaserScan publishes correct flat scan
buffers are now sorted by azimuth, min -> max
Accumulates then publishes full scan, rather than partial scans
Output angles now all in degrees, rather than mixed degrees/radians
Crash in IsaacComputeRTXRadarPointCloud node
incorrect rendervar in RtxSensorCpuIsaacRTXLidarOutput
get_rgba() and get_depth() for CameraView class now works for both rgb and depth
Account for linear array with depth values being at end
Fixed rotating physX Lidar python class initialization issue
Rational polynomial camera distortion coefficients will be stored as k1, k2, p1, p2, k3, k4, k5, k6 in the camera schema
Fixed invalid IMU sensor crash bug
IsaacComputeRTXLidarFlatScan works with CCW Solid State Lidar configs
Crash in PrintRTXLidarInfo node
Fixed contact sensor threshold bug
Multi GPU support
Added execOut trigger commands in Read IMU and Contact Sensor nodes to allow attached downstream nodes to tick
No longer crash when number of RTX Lidar ticks are out of sync
RTX Lidar config parameter nearRangeM < 0.4 was broken. Added minDistBetweenEchos, which also affects the near hits.
omni.isaac.surface_gripper
Changed
Changed Dynamic Control Raycast into Physx scene query raycast.
Extension refactored into multiple components. See omni.isaac.surface_gripper.ui.
Moved header files to extension
omni.isaac.surface_gripper.ui
New Extension
omni.isaac.synthetic_recorder
Added
async delayed ui frame build
Fixed
writing to s3 by using only folder name instead of full path
disabled capture on play to fix timeline control issues
removed step_async WAR
using step_async when num_frames=1
omni.isaac.tests
Added
Tests for the Leatherback robot.
Tests for the Create 3 robot.
Added NvBlox unit test
Added O3Dyn robot rotate unit tests
Added unit tests for O3Dyn Robot.
Update unit test to use get_assets_root_path_async
Added End Effectors menu items back into menu tests
Added unit tests for checking the sensor and environment menu items
Added writers to the ‘test_randomizer_snippets.py’ isaac replicator randomizers
Added automatic loading test for assets under “Robots”
Added test for apriltag menu
test_forklift_articulations.py for testing drive & lift of Forklift C model
test_randomizer_snippets.py containing replicator alternative randomizer examples from the docs
Changed
Renamed Transporter to iw.hub
Updated nvblox tests to match the sample
Update tolerances of O3dyn tests
Removed the usage of the deprecated dynamic_control extension
Changed get_assets_root_path to get_assets_root_path_async for the unit tests
Updated unit tests with newer OgnIsaacArticulationController node
Modified target angular velocity for the spin test as the old values are above the speed limit
Changed carter and drive goal carter unit tests to use the NOVA carter (V2.4) asset
Fixed
O3dyn Tests
Modified jetbot unit tests to not go above its max speed
updated tests to renamed nova carter asset
test_randomizer_snippets.py to use await instead of ensure_future
omni.isaac.tf_viewer
New Extension
omni.isaac.throttling
Added
Added on stop play callback to enable/disable eco mode. Pressing play will disable, pressing stop will enable.
omni.isaac.ui
Added
optional tooltip entry for SelectPrimWidget and ParamWidget
Added function to trigger user callback manually for DropDown widget.
SelectPrimWidget and ParamWidget to simplify populating a popup dialog for collecting parameters.
Changed
Use action registry in make_menu_item_description by deregistering actions first
Updated path to the nucleus extension
Fixed
Fix bug where XYPlot widget could display the wrong axis values for ragged data.
omni.isaac.universal_robots
Changed
Updated Path to UR10
omni.isaac.utils
Added
New Forklift C asset option under Robots > Forklift
Changed
Moved menu items to omni.isaac.menu
Moved forklift asset under new Robots > Forklift section
Renamed forklift asset to Forklift B.
omni.isaac.version
Added
Get the version file path from the ISAAC_PATH environment variable first
Validate if the version file exists and returns empty version values if not
omni.isaac.vscode
New Extension
omni.isaac.wheeled_robots
Added
unit test for robot reset using jetbot
Added acceleration restraints to differential controller
Reset test for holonomic controller
a menu item for the extension to allow for populating common controller omnigraphs
automatically populated omnigraph for controlling a differential robot
Changed
Changed desired velocity input name from velocityCommands to inputVelocity to fix a type not match issue
- Extension refactored into separate components. See omni.isaac.wheeled_robots.ui for UI components of the extension.
added ability to open python script in the popup dialog for omnigraph shortcuts
extension refactored into multiple components
Replaced internalState with perInstanceState for python ogn nodes
All custom_reset function in directly set the node using OG API
Replaced internalState with perInstanceState for the ogn nodes
Refactored wheeled robots extension to use carb plugin and support Cpp code
Rewrote differential controller node in Cpp
Removed unused outputs for position and effort control
Fixed
Crash on differential controller reset
Updated description in Ackermann Steering node
omni.isaac.wheeled_robots.ui
New Extension
omni.kit.loop-isaac
Changed
Moved header files to extension
omni.kit.property.isaac
Fixed
Prim Custom Data field can support nested objects (dictionaries) now
omni.pip.cloud
Changed
Replace pypiwin32==223 with pywin32==306
Update cryptography to 42.0.7
update typing extensions to typing_extensions==4.10.0
Fixed
Manually add paths for pywintypes import
omni.pip.compute
Added
opencv-python-headless==4.9.0.80
Fixed
Missing windows dlls
omni.replicator.isaac
Added
Custom replicator randomization nodes
Telemetry for writers and annotators
Function to approximate truncation of object based on comparing 3D bounding box with visible portion on screen
DOPE and CenterPose now output truncation value in addition to visibility
Add support for CenterPose and Dope to generic PoseWriter class
Added a generic pose writer
Added support for RtxSensorGpu and RtxSensorCpu aovs in`pytorch_writer` to support tiled RTX Sensor.
Changed
re-enable s3 writing functionality for PoseWriter
Include more information for DOPE output annotations
PoseWriter restructuring
Updated omnigraph nodes to use per instance state instead of internal state
Fixed
Pose writer fixes for assets with origin not at the center of the bounds
omni.usd.schema.isaac
Changed
Removed omni.usd.schema.physics dependency
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
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, and settings are supported to configure the simulation enviroment.
- Added
Bin pack harmonizer. When using it to harmonize a transform operator, users can pack a group of objects to a cuboid with user-specified size.
Mutable shader attributes for a geometry. This is a mutable attribute that allows mutation of shader attributes, e.g. texture rotations.
Setting to exclude occluded objects by a threshold.
Tutorial/test USD models.
- Fixed
Support for concave objects in container.
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 annotations 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
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