Release Notes#

Warning

PRE-RELEASE SOFTWARE NOTICE

This is pre-release, currently in development. You may encounter bugs, incomplete features, and other issues that will be addressed in future releases. Please report any issues you encounter. This will be finalized into a stable release in the future.

5.0.0#

General#

  • Updated to Kit 107.3.0

  • Open Sourced codebase with Apache 2.0 license at isaac-sim/IsaacSim

  • Isaac Sim Core Experimental API: a rewritten implementation of the current Isaac Sim’s Core API designed to be more robust, flexible, and powerful, yet still maintain the core utilities and wrapper concepts.

PhysX#

  • Actuator Model Update

    • PhysX in IsaacSim supports improved joint friction and actuation models:

      • Joint friction can now be configured similar to a Stribeck friction model. See the friction-related attributes in the new PhysxJointAxisAPI

      • The new PhysxDrivePerformanceEnvelopeAPI allows modeling speed-dependent torque limits in order to capture electric motor performance envelopes.

  • Deformables Beta

    • PhysX supports a new schema for volume and surface deformables, replacing current particle cloth and deformable body functionality. The beta feature set can be enabled in the physics preferences:

      • Edit → Preferences → Physics → General → Enable Deformable Schema Beta (Requires Restart)

  • Spline-Based Conveyance using Surface Velocity API

    • Added PhysxSplinesSurfaceVelocityAPI schema that allows the surface velocity to follow a path based on a given UsdGeomBasisCurves

Synthetic Data Generation#

  • Perception Data Generation (Replicator)

    • Added example snippet using Replicator’s CosmosWriter to output data in a format specific for the NVIDIA Cosmos Foundation Models

    • Added example snippet for searching and loading SimReady assets for SDG using the Simready Explorer

  • Action and Event Data Generation

    • New anomaly event extension (isaacsim.replicator.incident) creates box topple, fire, fluid spill events

    • New robot animation extension (isaacsim.anim.robot) creates animated mobile robots

    • New scene captioning extension (isaacsim.replicator.caption) produces natural language description of the 2D scene as well as 3D spatial graphs of assets on the stage

    • New camera placement and calibration extension (isaacsim.sensors.rtx.placement) optimally positions cameras based on scene layout and coverage requirements

  • New light weight Kit application, based on Isaac Sim App Template, deploys efficiently in both GUI and headless modes

  • Grasping Synthetic Data Generation

    • Added a physics-based grasping dataset generation workflow that generates and evaluates grasp poses.

  • Data Generation with MobilityGen

    • A toolset built on NVIDIA Isaac Sim, enabling easy generation and collection of data for mobile robots.

Robots#

  • Manipulator workflow (ur10e)

  • Robot setup tutorial series

  • New Robot assembler

  • New gains tuner

  • Robot schema: for defining robotics meta data, links, joints directly in the USD

  • Franka open drawer policy example

  • Robot asset reorganization

  • Isaac Lab robots are now available in Isaac Sim

  • New robots:

    • UFactory Robots

    • Agibot

    • Agility Cassie

Sensors#

  • Native USD support for OmniSensor prims, deprecating Camera-prim-as-RTX-sensor workflows

  • Native renderer support for stereoscopic depth sensor with tunable noise modeling via SingleViewDepthSensor API

  • Native renderer support for OpenCV pinhole and fisheye lens distortion models via Camera API

  • Consolidation of several RTX sensor annotators into two more performant and robust annotators: IsaacComputeRTXLidarFlatScan & IsaacExtractRTXSensorPointCloud

  • More officially-supported Lidar models, including several new models from SICK

  • Python API support for directly parsing GenericModelOutput buffer from RTX Sensors for more detailed output (eg. materials, object ID, etc.)

ROS#

  • ROS 2 Jazzy Support

  • ROS 2 internal libraries now load automatically and seamlessly when the ROS 2 bridge is enabled

  • New Simulation Control extension (isaacsim.ros2.sim_control) enabling automated control of Isaac Sim via the new Simulation Interfaces standard

  • New MoveIt2 workflow tutorial

  • New Nova Carter tutorial using Robot State Publisher

  • 3D Odometry Publishing

  • New Humanoid locomotion example

  • New tutorial for adding camera noise

  • General Performance Improvements

  • ROS 1 is no longer supported

UI/UX#

  • A new Robot Wizard to streamline robot setup from CAD files or simple shapes.

  • Content Browser with S3 bucket support

  • A list of recommended use-case specific layouts

  • Sensor Gizmo on stage to mark the location of a sensor

Live-streaming#

  • Omniverse Streaming Client is no longer supported

  • Added support for live-streaming over the Internet