Release Notes#
4.2.0#
General#
Updated to Kit 106.1.0
RTX based tiled rendering
Fixed one frame delay between simulation and rendering
Special mode for zero frame delay between simulation and rendering
Better stability for MGPU use cases
Use a more performant ROS2 QOS profile for sensor data
Isaac Lab#
RTX-based tiled rendering support
Deformable environments
RL with Multi-agent environments
Deterministic RL training for environments
Startup and cloning performance improvements
Performance optimizations for domain randomization
Support for command line argument config modification
Many bug fixes and improvements, including everything mentioned in the Isaac Sim section above
PhysX#
Bug Fixes#
Acceleration computation for rigid bodies was incorrect for both CPU and GPU if velocities were updated by the user in-between simulation steps.
CPU/GPU differences in resolving maximal-coordinate (e.g. D6) joint constraints with fixed-base articulation roots have been resolved. The behavior is identical now.
A crash when the articulation joint velocity limit was set to zero is resolved.
An effective-solver-timestep inaccuracy for the CPU TGS solver with nonzero velocity iterations was resolved.
A bug in collision resolution where a sphere could fall through a flat triangle mesh when it landed precisely on a mesh vertex.
Crash fixes for articulations parsing
Crash fixes for joints UI authoring
Crash in PhysX inspector
Collision mesh cache invalidation for topology changes
Replicator#
Fixed pose estimation SDG pipeline slowdown when generating many frames
Fixed DOPE writer output format
Changed the Synthetic Data Recorder extension to write data in sync with the stage
Updated omni.replicator.core to version 1.11.20
Fixed crash when capturing data with path tracing in complex scenarios
Improved pointcloud annotator performance
Robots#
Humanoid locomotion example
Quadruped locomotion example
Sensors#
Fixes OgnIsaacPrintRTXSensorInfo crashing if fed data from radar
Isaac assets creation menu now spawns lidar meshes if they exist, and includes Gemini 335, Gemini 335L, and LeopardImaging Owl
CameraView API now uses full RTX tiled renderer
ROS#
New ROS 2 Navigation sample with iw.hub robot
Nova Carter asset now uses Sensor Data QoS profile to publish all sensor data for increased performance
ROS 2 Foxy is no longer tested or supported, which may affect compatibility with Isaac Sim 4.2 or later. The ROS 2 Foxy Isaac Sim tutorial packages will be removed in a future release.
MetroSim#
ORO extension#
Several new example description files to show bin pack harmonizer usage.
A drop-down box to select description files
ORA extension#
Updated the ORA to use omni.anim.navigation-version-106.1
Added DHWriter to enable auto-enabling of DH character attributes
Use home directory for default writer output
Temporarily disabled Lidar and LidarFusion writers, and the -n flag for sdg_scheduler
Kit SDK Version#
Changed: 106.0.1 -> 106.1.0
Dependencies#
Added#
omni.anim.navigation.navmesh.recast: 106.1.4
omni.net: 0.0.1-isaac-1
omni.sensors.nv.camera: 0.10.0-isaac-1
omni.sensors.nv.visualizer: 1.0.1-isaac-1
omni.usd.fileformat.pts: 106.0.1
omni.kit.capture.viewport: 1.5.1
omni.kit.tool.collect: 2.2.14
Removed#
omni.gdn_asset_publisher: 0.9.26
omni.isaac.onshape: 0.6.5
omni.kit.browser.asset_provider.actorcore: 1.0.6
omni.kit.browser.asset_provider.sketchfab: 1.0.10
omni.kit.browser.asset_provider.turbosquid: 1.0.9
omni.kit.browser.asset_store: 1.3.1
omni.kit.browser.showcase: 1.0.4
omni.kit.simscale: 2.1.0
omni.kit.text3d: 1.3.0
omni.kit.window.environment: 1.7.1
Changed#
omni.anim.asset: 106.0.3 -> 106.1.0
omni.anim.behavior.schema: 106.0.1 -> 106.1.0
omni.anim.curve.core: 1.1.13 -> 1.1.14
omni.anim.curve.ui: 1.3.16 -> 1.3.17
omni.anim.curve_editor: 105.17.9 -> 105.17.10
omni.anim.graph.bundle: 106.0.3 -> 106.1.0
omni.anim.graph.core: 106.0.6 -> 106.1.2
omni.anim.graph.schema: 106.0.2 -> 106.1.0
omni.anim.graph.ui: 106.0.1 -> 106.1.1
omni.anim.navigation.bundle: 106.0.1 -> 106.1.0
omni.anim.navigation.core: 106.0.2 -> 106.1.3
omni.anim.navigation.schema: 106.0.2 -> 106.1.0
omni.anim.navigation.ui: 106.0.2 -> 106.1.1
omni.anim.people: 0.4.1 -> 0.5.0
omni.anim.retarget.bundle: 106.0.1 -> 106.1.0
omni.anim.retarget.core: 106.0.1 -> 106.1.2
omni.anim.retarget.ui: 106.0.1 -> 106.1.1
omni.anim.shared.core: 106.0.0 -> 106.0.1
omni.anim.skelJoint: 106.0.1 -> 106.1.2
omni.asset_validator.core: 0.11.5 -> 0.11.8
omni.asset_validator.ui: 0.11.5 -> 0.11.8
omni.convexdecomposition: 106.0.20 -> 106.1.9
omni.curve.manipulator: 105.2.6 -> 105.2.8
omni.flowusd: 106.0.15 -> 106.1.1
omni.genproc.core: 105.1.9 -> 106.1.0
omni.graph.action_nodes: 1.23.0 -> 1.24.0
omni.graph.bundle.action: 2.0.4 -> 2.4.1
omni.graph.nodes: 1.143.0 -> 1.146.1
omni.graph.scriptnode: 1.19.1 -> 1.20.1
omni.graph.telemetry: 2.13.1 -> 2.15.0
omni.graph.tutorials: 1.27.1 -> 1.29.0
omni.graph.ui: 1.70.0 -> 1.70.2
omni.graph.ui_nodes: 1.25.1 -> 1.26.0
omni.graph.window.action: 1.26.0 -> 1.28.0
omni.graph.window.core: 1.109.0 -> 1.113.1
omni.graph.window.generic: 1.24.0 -> 1.26.0
omni.importer.onshape: 0.7.1 -> 0.7.3
omni.isaac.sim.base: 4.1.0 -> 4.2.0
omni.kit.asset_converter: 2.1.11 -> 2.1.21
omni.kit.browser.asset: 1.3.9 -> 1.3.10
omni.kit.browser.folder.core: 1.9.12 -> 1.9.13
omni.kit.browser.material: 1.5.2 -> 1.6.0
omni.kit.browser.sample: 1.4.7 -> 1.4.8
omni.kit.converter.cad: 201.1.0-rc.4 -> 201.1.0
omni.kit.converter.common: 500.0.8 -> 500.0.10
omni.kit.converter.dgn: 500.0.4 -> 500.0.6
omni.kit.converter.dgn_core: 500.0.12 -> 500.0.19
omni.kit.converter.hoops: 500.0.5 -> 500.0.7
omni.kit.converter.hoops_core: 500.0.12 -> 500.0.17
omni.kit.converter.jt: 500.0.4 -> 500.0.7
omni.kit.converter.jt_core: 500.0.12 -> 500.0.16
omni.kit.converter.patchmanager: 1.0.25 -> 1.0.26
omni.kit.converter.vtk: 2.3.1 -> 2.3.1
omni.kit.data2ui.core: 1.0.25 -> 1.0.27
omni.kit.data2ui.usd: 1.0.25 -> 1.0.27
omni.kit.environment.core: 1.3.11 -> 1.3.14
omni.kit.gfn: 106.0.4 -> 106.0.5
omni.kit.pointclouds: 1.3.5 -> 1.4.3
omni.kit.preferences.animation: 1.1.7 -> 1.1.8
omni.kit.profiler.tracy: 1.1.4 -> 1.1.5
omni.kit.profiler.window: 2.2.1 -> 2.2.3
omni.kit.property.environment: 1.1.7 -> 1.2.1
omni.kit.property.physx: 106.0.20 -> 106.1.9
omni.kit.scripting: 106.0.1 -> 106.1.1
omni.kit.streamsdk.plugins: 4.5.1 -> 4.5.3
omni.kit.sequencer.usd: 103.4.4 -> 103.4.5
omni.kit.tool.measure: 105.2.5 -> 105.2.6
omni.kit.variant.editor: 106.0.0 -> 106.1.0
omni.kit.variant.presenter: 105.1.2 -> 106.0.0
omni.kit.waypoint.core: 1.4.52 -> 1.4.54
omni.kit.window.material: 1.5.7 -> 1.6.2
omni.kit.window.material_graph: 1.8.15 -> 1.8.18
omni.kit.window.modifier.titlebar: 105.1.10 -> 105.2.16
omni.kit.window.movie_capture: 2.4.1 -> 2.4.2
omni.kit.xr.advertise: 106.0.71 -> 106.1.24
omni.kit.xr.core: 106.0.71 -> 106.1.24
omni.kit.xr.example.usd_scene_ui: 106.0.71 -> 106.0.116
omni.kit.xr.profile.ar: 106.0.71 -> 106.1.24
omni.kit.xr.profile.common: 106.0.71 -> 106.1.24
omni.kit.xr.profile.tabletar: 106.0.71 -> 106.1.24
omni.kit.xr.profile.vr: 106.0.71 -> 106.1.24
omni.kit.xr.scene_view.core: 106.0.71 -> 106.1.24
omni.kit.xr.scene_view.utils: 106.0.71 -> 106.1.24
omni.kit.xr.system.cloudxr: 106.0.71 -> 106.1.24
omni.kit.xr.system.cloudxr41: 106.0.71 -> 106.1.24
omni.kit.xr.system.openxr: 106.0.71 -> 106.1.24
omni.kit.xr.system.playback: 106.0.71 -> 106.1.24
omni.kit.xr.system.steamvr: 106.0.71 -> 106.1.24
omni.kit.xr.telemetry: 106.0.71 -> 106.1.24
omni.kit.xr.ui.config.common: 106.0.71 -> 106.1.24
omni.kit.xr.ui.config.generic: 106.0.71 -> 106.1.24
omni.kit.xr.ui.config.htcvive: 106.0.71 -> 106.1.24
omni.kit.xr.ui.config.magicleap: 106.0.71 -> 106.1.24
omni.kit.xr.ui.config.metaquest: 106.0.71 -> 106.1.24
omni.kit.xr.ui.stage.common: 106.0.71 -> 106.1.24
omni.kit.xr.ui.window.profile: 106.0.71 -> 106.1.24
omni.kit.xr.ui.window.viewport: 106.0.71 -> 106.1.24
omni.kvdb: 106.0.20 -> 106.1.9
omni.localcache: 106.0.20 -> 106.1.9
omni.no_code_ui.bundle: 1.0.25 -> 1.0.27
omni.physx: 106.0.20 -> 106.1.9
omni.physx.camera: 106.0.20 -> 106.1.9
omni.physx.cct: 106.0.20 -> 106.1.9
omni.physx.commands: 106.0.20 -> 106.1.9
omni.physx.cooking: 106.0.20 -> 106.1.9
omni.physx.demos: 106.0.20 -> 106.1.9
omni.physx.foundation: 106.0.20 -> 106.1.9
omni.physx.graph: 106.0.20 -> 106.1.9
omni.physx.stageupdate: 106.0.20 -> 106.1.9
omni.physx.supportui: 106.0.20 -> 106.1.9
omni.physx.telemetry: 106.0.20 -> 106.1.9
omni.physx.ui: 106.0.20 -> 106.1.9
omni.physx.vehicle: 106.0.20 -> 106.1.9
omni.replicator.agent.camera_calibration: 0.3.1 -> 0.4.0
omni.replicator.agent.core: 0.3.1 -> 0.4.1
omni.replicator.agent.ui: 0.3.1 -> 0.4.0
omni.replicator.core: 1.11.14 -> 1.11.20
omni.replicator.object: 0.3.4 -> 0.3.8
omni.replicator.replicator_yaml: 2.0.5 -> 2.0.6
omni.scene.optimizer.bundle: 106.0.15 -> 106.1.1
omni.scene.optimizer.core: 106.0.15 -> 106.1.1
omni.scene.optimizer.ui: 106.0.15 -> 106.1.1
omni.sensors.nv.common: 1.2.2-isaac -> 1.2.2-isaac-1
omni.sensors.nv.ids: 1.1.0-isaac -> 1.1.0-isaac-1
omni.sensors.nv.lidar: 1.2.2-isaac -> 1.2.2-isaac-1
omni.sensors.nv.materials: 1.2.1-isaac -> 1.2.1-isaac-1
omni.sensors.nv.radar: 1.2.1-isaac -> 1.2.1-isaac-1
omni.sensors.nv.ultrasonic: 1.2.1-isaac -> 1.2.1-isaac-1
omni.sensors.nv.wpm: 1.2.1-isaac -> 1.2.1-isaac-1
omni.sensors.tiled: 0.0.4 -> 0.0.6
omni.services.pip_archive: 0.13.5 -> 0.13.6
omni.simready.explorer: 1.0.26 -> 1.1.1
omni.slangnode: 106.0.0 -> 106.1.0
omni.usd.fileformat.e57: 1.2.3 -> 1.2.4
omni.usd.metrics.assembler: 106.0.1 -> 106.1.0
omni.usd.metrics.assembler.physics: 106.0.2 -> 106.1.0
omni.usd.metrics.assembler.ui: 106.0.2 -> 106.1.0
omni.usd.schema.forcefield: 106.0.20 -> 106.1.9
omni.usd.schema.metrics.assembler: 106.0.1 -> 106.1.0
omni.usd.schema.physx: 106.0.20 -> 106.1.9
omni.usd.schema.sequence: 2.3.0 -> 2.3.1
omni.usdphysics: 106.0.20 -> 106.1.9
omni.usdphysics.ui: 106.0.20 -> 106.1.9
omni.warehouse_creator: 0.4.0 -> 0.4.2
semantics.schema.editor: 0.3.6 -> 0.3.8
semantics.schema.property: 1.0.3 -> 1.0.4
Extensions#
omni.exporter.urdf
Fixed
Added missing dependency
removed unnecessary dependencies
omni.isaac.app.selector
Fixed
Spelling mistake in UI
omni.isaac.app.setup
Changed
Removed imgui calls on app startup to avoid crash when display was not set
Fixed deprecation warnings
omni.isaac.asset_browser
Changed
Update asset paths to 4.2
omni.isaac.assets_check
Changed
Added deprecation notice
omni.isaac.benchmark.services
Fixed
convert sim_elapsed_time to ms for calculating real-time factor
omni.isaac.common_includes
Fixed
Bug when (re-)creating a buffer of same size on another device
omni.isaac.core
Added
Added functions to find missing and incorrect semantic labels
Added function to tally semantic labels in a scene
Fixed
.render() call to fetch physX data into fabric in the GPU pipeline
.render() call implicitly calls update_articulations_kinematic in order to update articulations kinematic before rendering the result
Exempts /Render and child prims when calling clear stage
Do not delete the default renderproduct for the viewport when calling clear stage
missing omni.kit.stage_templates dependency
Fix deprecation warning and use Semantics instead of pxr.Semantics
omni.isaac.core_nodes
Fixed
Handling of writers when they are added via attach_writer function
omni.isaac.cortex
Removed
Deprecation tag
omni.isaac.cortex.sample_behaviors
Removed
Deprecation tag
omni.isaac.examples
Added
Reinforcement learning based humanoid and quadruped examples
Humanoid H1 definition file
Removed
Optimization based quadruped controller example
Fixed
Fixed Kaya gamepad example, loading ground and light manually
Fixed glitch with quadruped example
omni.isaac.kit
Changed
Added missing tracy parameters to reduce profiling bias on measured performance
omni.isaac.menu
Added
Missing robots to the menu
Missing environments to the menu
Several new robots to robot menu
Removed
Grid Room from menu to match documentation
Changed
Modifies robot menu to have multiple submenus based on robot type
Aligns robot menu ordering with documentation
Adds original Franka to robot asset menu
Renames Franka -> Franka (alt. fingers)
Moves Ant to Quadruped menu
Adds Black Grid and Curved Grid menu options.
Fixed
some naming to match documentation
Generation of April Tag
omni.isaac.nucleus
Changed
Updated to 4.2 asset path
omni.isaac.occupancy_map
Fixed
Prevent cell size being less than or equal to 0 by showing a warning message and using a default value
omni.isaac.occupancy_map.ui
Changed
Limit Cell Size slider’s minimum value to avoid it begin less than or equal to 0
omni.isaac.physics_inspector
Deprecated
Add Deprecation Warning
omni.isaac.quadruped
Added
RL policy based robot simulation for anymal and spot quadruped
omni.isaac.range_sensor
Fixed
Fix deprecation warning and use Semantics instead of pxr.Semantics
omni.isaac.range_sensor.examples
Fixed
Disables “Load Lidar” button in Lidar example while stage is clearing
omni.isaac.ros2_bridge
Added
New iw.hub warehouse navigation sample for Foxy and Humble
Changed
Update nv_ros2 dependency for Foxy, Humble on Linux and Humble only on Windows with upgraded sqlite 3.46.1 package
Fixed
ROS2 image publisher threading crash fixed.
Update nv_ros2 dependency for Humble on Linux to support the new NITROS Bridge message definition
ROS2 QoS Profile node issue where preset profiles are sometimes not saved.
ROS2 Camera graph uses ROS2CameraInfoHelper instead of ROS2CameraHelper.
ROS2CameraInfoHelper correctly allocates camera_info publishers in between simulation runs.
ROS2CameraInfoHelper publishes correct frame ID.
CameraInfo messages now have distortion coefficients forcibly set to [0,0,0,0,0] if the user sets distortion model as “plumb_bob”, regardless of distortion coefficient values set in camera prim.
Warnings when extension was shutdown
omni.isaac.sensor
Added
Adds Owl to Create->Sensor menu.
Added Gemini 335, 335L to the menu
New command “IsaacSensorCreateRtxIDS” to support occupancy sim extension
Removed
CameraView methods: set_frequency, get_frequency, set_dt, get_dt, get_data (Currently the CameraView class follows the global rendering_dt)
Changed
CameraView class to use the tiled RTX sensor instead of the single raycast Tiled Sensor
Changed default output annotators to rgb and depth
Updated Gemini 2 usd file path
Fixed
Add omni.sensors.tiled as a dependency
Corrects prim path for Sensing SG2-AR0233C-5200-G2A-H100F1A
Making auto-add contact report API when creating a sensor
Corrects path manipulations when building menu.
Sensing RGBD sensor names in Create -> Isaac menu now match USD filenames.
Create -> Isaac -> Sensor -> RTX Lidar options now spawn USD sample asset rather than bare prim, if one exists
Disables per-view TLAS so that individual RTX sensors return separate point clouds
omni.isaac.synthetic_recorder
Fixed
Fix deprecation warning and use Semantics instead of pxr.Semantics
omni.isaac.tf_viewer
Fixed
Fix the checked status of the menu when the window is closed by using omni.kit.menu helper
omni.replicator.isaac
Fixed
PoseWriter render product names changes fix
DOPE writer numpy deprecation fix: np.float –> np.float64
PoseWriter dope format output fix to match DOPE writer (label –> class, projected cuboid order fix)