Release Notes#
5.1.0#
General#
Updated to Kit 107.3.3
DGX Spark support
The Compatibility Checker is no longer a standalone application. It is now integrated into Isaac Sim in all its installation modalities.
All deprecated extensions will be fully removed in the next major 6.0 release
PhysX#
Articulations
New joint parameter tuning tutorial for robotic grippers.
New feature for solving articulation collision contacts last to improve on gripper penetration issues, especially for cases with sub-optimally tuned joints.
Fixed regression for interaction with deformables.
Synthetic Data Generation#
Perception Data Generation (Replicator)
Tutorial for generating synthetic data for Cosmos
Action and Event Data Generation
Updated the Navigation Mesh API in Actor SDG
Removed unused settings in Actor SDG
Fixed the writer trigger bug in Object SDG
Data Generation with MobilityGen
Improved documentation for data generation script parameters
Added documentation for configuring custom robot parameters
Robots#
New Robots from schunk:
Egk25
Egu50
Ezu35
Svh hand (left, right)
New Robot Booster T1
Updated G1
Updated left and right hand as variants, support three finger and inspire hand
Added UR10e follow target examples
Sensors#
Added support for semantic segmentation (Object ID) using RTX Sensor
Enabled non-visual materials for RTX Sensor using USD attributes, supported by new APIs
Enabled device-side data processing for IMU sensor, improving performance
Replaced OgnIsaacExtractRTXSensorPointCloud with per-frame output option on OgnIsaacCreateRTXLidarScanBuffer
MotionBVH now disabled for RTX Sensor by default to improve baseline performance
Performance improved for all RTX Sensor Annotators
Fixed sensor return timestamp output from OgnIsaacCreateRTXLidarScanBuffer
Fixed many small bugs in LidarRtx API
Fixed specifying translation and orientation when creating sensors via command
imageSize attribute now correctly specified for OpenCV lens distortion when using Camera API
SingleViewDepthSensorAsset correctly sets translation and orientation when added to stage
ROS#
Add Simulation Interfaces Worlds support (v1.1.0) to ROS 2 Simulation Control extension and updated service/action names. New services added: GetAvailableWorlds, GetCurrentWorld, LoadWorld, UnloadWorld.
Optimized performance using rclpy executors within the ROS 2 Simulation Control extension.
Simulation Control extension easily enabled at startup by setting
--isaac/startup/ros_sim_control_extension=True.Updated internal ROS 2 Humble and Jazzy libraries to now include common_interfaces, tf2_ros, sensor_msgs_py, and simulation_interfaces v1.1.0.
Default ROS 2 bridge library setting set to system_default. On Ubuntu 22.04, ROS 2 Humble internal libs are loaded automatically. On Ubuntu 24.04, ROS 2 Jazzy internal libs are loaded automatically.
CameraInfo message corrected to not always set fy equal to fx.
General performance and memory management improvements with message generation and ROS 2 publishing.
Fixed duplicate and missing timestamps when publishing ROS 2 messages.
Live-streaming#
Live-streaming is not yet supported on aarch64.
Docker#
Added support for multi-arch.
Container runs as a rootless user by default.
Kit SDK Version#
Changed: 107.3.1+isaac.206797.8131b85d.gl -> 107.3.3+isaac.229672.69cbf6ad.gl
Dependencies#
Added#
isaacsim.app.compatibility_check: 1.1.1
isaacsim.xr.input_devices: 1.0.1
omni.services.convert.asset: 508.0.2
omni.services.facilities.monitoring.metrics: 0.3.0
Removed#
omni.anim.navigation.meshtools: 107.3.0
Changed#
isaacsim.anim.robot: 0.0.13 -> 0.0.15
isaacsim.exp.full: 5.0.0 -> 5.1.0
isaacsim.replicator.agent.core: 0.7.19 -> 0.7.28
isaacsim.replicator.agent.ui: 0.7.9 -> 0.7.11
isaacsim.replicator.caption.core: 0.0.31 -> 0.0.32
isaacsim.replicator.incident: 0.1.25 -> 0.1.28
isaacsim.replicator.object: 0.4.12 -> 0.4.13
isaacsim.sensors.rtx.placement: 0.6.11 -> 0.6.13
omni.anim.behavior.schema: 107.3.1 -> 107.3.0
omni.anim.graph.bundle: 107.3.0 -> 107.3.3
omni.anim.graph.core: 107.3.0 -> 107.3.4
omni.anim.graph.schema: 107.3.0 -> 107.3.3
omni.anim.graph.ui: 107.3.0 -> 107.3.3
omni.anim.navigation.bundle: 107.3.0 -> 107.3.3
omni.anim.navigation.core: 107.3.0 -> 107.3.8
omni.anim.navigation.schema: 107.3.0 -> 107.3.3
omni.anim.navigation.ui: 107.3.0 -> 107.3.5
omni.anim.people: 0.7.7 -> 0.7.9
omni.anim.retarget.bundle: 107.3.0 -> 107.3.3
omni.anim.retarget.core: 107.3.0 -> 107.3.3
omni.anim.retarget.preview: 107.3.0 -> 107.3.3
omni.anim.retarget.ui: 107.3.0 -> 107.3.3
omni.anim.skelJoint: 107.3.0 -> 107.3.3
omni.asset_validator.core: 0.25.4 -> 1.1.6
omni.asset_validator.ui: 0.25.4 -> 1.1.6
omni.convexdecomposition: 107.3.18 -> 107.3.26
omni.graph.action_nodes_core: 1.1.0 -> 1.2.0
omni.importer.onshape: 1.0.0 -> 1.0.1
omni.kit.asset_converter: 4.1.4 -> 5.0.16
omni.kit.converter.cad: 203.2.1 -> 205.0.0
omni.kit.converter.common: 506.3.1 -> 507.1.2
omni.kit.converter.dgn: 508.0.1 -> 509.1.0
omni.kit.converter.dgn_core: 509.0.1 -> 510.1.0
omni.kit.converter.hoops: 508.0.1 -> 509.1.0
omni.kit.converter.hoops_core: 508.0.2 -> 509.1.0
omni.kit.converter.jt: 507.0.1 -> 508.1.0
omni.kit.converter.jt_core: 507.0.1 -> 508.1.0
omni.kit.core.collection: 0.2.0 -> 0.2.3
omni.kit.environment.core: 1.3.19 -> 1.3.24
omni.kit.graph.delegate.default: 1.2.2 -> 1.2.3
omni.kit.graph.delegate.modern: 1.10.8 -> 1.10.9
omni.kit.pointclouds: 1.5.13 -> 1.5.14
omni.kit.property.collection: 0.2.0 -> 0.2.3
omni.kit.property.physx: 107.3.18 -> 107.3.26
omni.kit.scripting: 107.3.1 -> 107.3.2
omni.kit.tool.asset_exporter: 3.1.1 -> 4.0.5
omni.kit.variant.editor: 107.3.0 -> 107.5.3
omni.kit.widget.collection: 0.2.3 -> 0.3.1
omni.kit.window.collection: 0.2.3 -> 0.3.1
omni.kit.window.material: 1.6.3 -> 1.7.2
omni.kit.window.material_graph: 1.8.23 -> 1.9.1
omni.kit.xr.advertise: 107.3.102 -> 107.3.109
omni.kit.xr.core: 107.3.102 -> 107.3.109
omni.kit.xr.profile.ar: 107.3.102 -> 107.3.109
omni.kit.xr.profile.common: 107.3.102 -> 107.3.109
omni.kit.xr.profile.tabletar: 107.3.102 -> 107.3.109
omni.kit.xr.profile.vr: 107.3.102 -> 107.3.109
omni.kit.xr.scene_view.core: 107.3.102 -> 107.3.109
omni.kit.xr.scene_view.utils: 107.3.102 -> 107.3.109
omni.kit.xr.system.openxr: 107.3.102 -> 107.3.109
omni.kit.xr.system.simulatedxr: 107.3.102 -> 107.3.109
omni.kit.xr.ui.stage: 107.3.102 -> 107.3.109
omni.kit.xr.ui.window.profile: 107.3.102 -> 107.3.109
omni.kit.xr.ui.window.viewport: 107.3.102 -> 107.3.109
omni.kvdb: 107.3.18 -> 107.3.26
omni.localcache: 107.3.18 -> 107.3.26
omni.metropolis.utils: 0.1.17 -> 0.1.20
omni.physics: 107.3.18 -> 107.3.26
omni.physics.physx: 107.3.18 -> 107.3.26
omni.physics.stageupdate: 107.3.18 -> 107.3.26
omni.physics.tensors: 107.3.18 -> 107.3.26
omni.physx: 107.3.18 -> 107.3.26
omni.physx.asset_validator: 107.3.18 -> 107.3.26
omni.physx.bundle: 107.3.18 -> 107.3.26
omni.physx.camera: 107.3.18 -> 107.3.26
omni.physx.cct: 107.3.18 -> 107.3.26
omni.physx.commands: 107.3.18 -> 107.3.26
omni.physx.cooking: 107.3.18 -> 107.3.26
omni.physx.demos: 107.3.18 -> 107.3.26
omni.physx.fabric: 107.3.18 -> 107.3.26
omni.physx.foundation: 107.3.18 -> 107.3.26
omni.physx.graph: 107.3.18 -> 107.3.26
omni.physx.pvd: 107.3.18 -> 107.3.26
omni.physx.supportui: 107.3.18 -> 107.3.26
omni.physx.telemetry: 107.3.18 -> 107.3.26
omni.physx.tensors: 107.3.18 -> 107.3.26
omni.physx.tests: 107.3.18 -> 107.3.26
omni.physx.tests.visual: 107.3.18 -> 107.3.26
omni.physx.ui: 107.3.18 -> 107.3.26
omni.physx.vehicle: 107.3.18 -> 107.3.26
omni.replicator.core: 1.12.16 -> 1.12.27
omni.scene.optimizer.bundle: 107.3.9 -> 107.3.12
omni.scene.optimizer.core: 107.3.9 -> 107.3.12
omni.scene.optimizer.ui: 107.3.9 -> 107.3.12
omni.services.convert.cad: 506.2.5 -> 507.0.2
omni.usd.metrics.assembler.physics: 107.3.18 -> 107.3.26
omni.usd.schema.physx: 107.3.18 -> 107.3.26
omni.usdex.libs: 1.0.2 -> 1.2.2
omni.usdphysics: 107.3.18 -> 107.3.26
omni.usdphysics.ui: 107.3.18 -> 107.3.26
omni.warp: 1.7.1 -> 1.8.2
omni.warp.core: 1.7.1 -> 1.8.2
semantics.schema.editor: 2.0.1 -> 2.0.2
Extensions#
isaacsim.app.selector
Changed
Deprecate app selector
isaacsim.app.setup
Added
Added setting to enable ROS Simulation Control extension on startup
Changed
Remove app selector launcher
Moved help menu links to isaacsim.gui.menu
Added Exec field to Isaac Sim desktop file so icon can launch app
removed /persistent/exts/omni.anim.navigation.core/navMesh/config/autoRebakeOnChanges setting as its already specified in isaacsim.exp.base.kit
isaacsim.asset.browser
Changed
Highlight the selected item green
Fixed
Fix the broken documentation links
isaacsim.asset.exporter.urdf
Changed
Switch UI element to remove duplicate code
Updated UI to handle local path for mesh
Update nvidia-srl-usd-to-urdf==1.0.2
Update nvidia-srl-usd==2.0.0
isaacsim.asset.gen.omap.ui
Changed
Fix incorrect image origin calculation
isaacsim.asset.importer.mjcf
Changed
Update Asset converter dependency
Fixed
Fix the broken documentation links
isaacsim.asset.importer.urdf
Changed
Update Asset converter dependency
Promoted missing mesh to error message
URDF gets imported even if meshes are not found
Fixed
Fix merging fixed joints that stops processing incorrectly
Fix transform error for dae files
Check for child link mass and avoid merging if it’s defined (only merge reference frames)
Fix the broken documentation links
isaacsim.asset.validation
Added
Add diagonal inertia triangle inequality check
Changed
Update tolerances for mis-configured joint poses
isaacsim.benchmark.services
Added
Added coordinate validation tooling for position/orientation validation
Changed
Moved all logging functionality to carb.log() module
isaacsim.core.api
Added
Expose PhysX scene attribute to reorder the articulation contact constraints to be solved last
Add boolean flag to force the update of the physics data to fabric when performing a physics-only step
Changed
Update articulation view test case to check for joint indices and names when querying the measured joint reaction forces/torques
Fixed
Fix the broken documentation links
isaacsim.core.experimental.materials
Added
Add support for input data expressed as basic Python types (bool, int, float)
isaacsim.core.experimental.objects
Added
Add GroundPlane object
Add USD Plane shape
Add support for input data expressed as basic Python types (bool, int, float)
isaacsim.core.experimental.prims
Added
Add rotation, stress and gradient computation for volume deformable bodies
Add support for input data expressed as basic Python types (bool, int, float)
isaacsim.core.experimental.utils
Added
Add stage utils functions to:
Set the current stage units
Get and set current stage up axis and time code
Save and close the current stage
Generate next free path
Add prim utils function to create prim attributes
Add foundation utils
More functionality has been added to Transform utils for manipulating rotations and quaternions
isaacsim.core.includes
Changed
Use cached physics views for PoseTree.h
Use the IFabricHierarchy cached transform (with explicit update call) and set it to be the default call in computeWorldXformNoCache
Use device-generic memory buffer implementation to enable tensor API processing on the GPU for PoseTree computation
isaacsim.core.nodes
Changed
Use SimulationManager instead of deprecated CoreNodes APIs for time related APIs
Remove workaround for /Render prim visibility and deleting deltas in stage open event
Use device-generic memory buffer implementation to enable tensor API processing on the GPU in OgnIsaacComputeOdometry node
Fixed
Fixed Isaac Read World Pose node bug for extracting translation and orientation on Spark
Fix issue with inconsistent publishing rates due to upstream frame times nodes, a new render product frame time node is used
isaacsim.core.prims
Changed
Re-write XFormPrim’s get_world_poses/set_world_poses fabric implemenattion using Fabric Scene Delegate and IFabricHierarchy
Fixed
Fix ill-formed SdfPath when querying XFormPrim’s applied visual materials
Auto-compute joint indices when specifying joint names to get articulation’s measured joint reaction forces/torques
isaacsim.core.simulation_manager
Changed
Backend time sampling is now done using a circular buffer that writes/reads rational time samples and properly works with FSD enabled/disabled
Fixed
Improved log message verbosity and levels
Always return current time if no samples are stored, this occurs if you access the time storage before starting simulation
Duplicated/incorrect timestamp issue
Do not change /physics/outputVelocitiesLocalSpace when fabric is enabled/disabled
Update to event 2.0 system
isaacsim.core.throttling
Added
Add setting to enable/disable async rendering
Add setting to change loop runner manual mode
Changed
Enabling async rendering happens after a 10 frame delay
Use opt-in carb setting for async rendering and manual mode toggles
isaacsim.core.utils
Added
Add Warp kernels to compose/decompose fabric transformation matrices from/to Warp arrays
Fixed
Fix Sdf/Gf casting when setting/getting prim attribute’s value
isaacsim.cortex.behaviors
Changed
Tweaked bin picking behavior to avoid jumping target orientation
Increased tolerance on bin picking task when reaching bin
isaacsim.examples.browser
Changed
Highlight the selected item label green
isaacsim.examples.interactive
Added
UR robot follows target example using IK
Changed
Updated franka, humanoid, quadruped examples
Updated Surface Gripper sample
Fixed
Fix the broken documentation links
isaacsim.gui.components
Added
Combo Box UI Wrapper
Removed
Combo Box UI Wrapper (Duplicate from DropDown UI Wrapper)
isaacsim.gui.menu
Changed
Moved help menu links to isaacsim.gui.menu from isaacsim.app.setup
Fixed
Fix the broken documentation links
isaacsim.replicator.examples
Changed
Added physics to custom fps example snippet, changed to dome light
Updated subscribers and events example snippet to use a custom number of app updates for capturing events
Added rt_subframes to the custom fps example
Moved randomizer snippets tests from isaacsim.test.collection to test_sdg_randomizer_snippets.py
Updated cosmos writer example to generate multiple video clips
Fix PIL image conversion warnings
Fixed
Fixed data augmentation conversion issues
Make sure custom writers reset annotators list (self.annotators = []) on initialization
isaacsim.replicator.mobility_gen
Fixed
Add documentation to robot.py parameters.
isaacsim.replicator.mobility_gen.examples
Fixed
Add dialog message for incorrect occupancy map paths
isaacsim.replicator.mobility_gen.ui
Fixed
Add dialog message for incorrect occupancy map paths
isaacsim.replicator.synthetic_recorder
Changed
Restored capture on play flag to its original value after recording
isaacsim.replicator.writers
Changed
Fix PIL image conversion warnings
Fixed
Make sure custom writers reset annotators list (self.annotators = []) on initialization
isaacsim.robot.manipulators
Changed
Update the Suction Gripper to use Enums for status
isaacsim.robot.manipulators.examples
Added
UR robot functionality based on Warp APIs
Target-following task for the UR robot using inverse kinematics (IK)
isaacsim.robot.manipulators.ui
Fixed
Fix graph creation for Articulation Position, Velocity, and Gripper windows so that reopening usd after save works correctly
isaacsim.robot.surface_gripper
Added
Added Option to Write or not to USD on simulation
C++ Interface for batched updates
Changed
Performance improvements
Made all possible processing threaded
isaacsim.robot.wheeled_robots
Changed
Add Error messages when holonomic controller is not initialized correctly
isaacsim.robot_motion.motion_generation
Fixed
Fixed bug in RMPflow collision sphere visualization where updating the robot position did not update the positions of visualized spheres.
isaacsim.robot_setup.assembler
Changed
Code cleanup
Fixed
Issues with scenegraph instancing when fabric is disabled
Gripper placement when gripper base prim is not at the origin
isaacsim.robot_setup.grasp_editor
Fixed
Fix issue where rigid body was re-scaled
isaacsim.robot_setup.wizard
Changed
prim name checks
icons and preview pngs
isaacsim.ros2.bridge
Changed
Update internal ROS 2 Humble and Jazzy libs to include common_interfaces, tf2_ros, sensor_msgs_py, Simulation Interfaces v1.1.0
Set default ROS bridge lib setting to system_default and cleanup ROS Bridge loading
Improve sequence memory management in ROS2 message generation
Improve error messages and default values
Fixed
Nitros bridge tasking
CameraInfo message always sets fy == fx, as renderer assumes square pixels
isaacsim.ros2.sim_control
Added
Simulation Interfaces v1.1.0 (World services) now supported.
Changed
Spawn Entity service now attempts to load given path with default asset root prefix if given path is initially not found.
Minor updates to README
Added rclpy executors for better performance.
Added simulate_steps_cancel_callback function.
Load world service now attempts to load given path with default asset root prefix if given path is initially not found.
Hidden /Render* prims are excluded from Entity retrieval services
Extension initialization such that missing ROS service dependencies no longer cause a fatal error.
Fixed
Modular service and action registration mechanism
isaacsim.ros2.urdf
Fixed
Fix cleanup of the ObserverGuard object when using omni.kit.command in script
isaacsim.sensors.camera
Changed
Fix PIL image conversion warnings
Fixed
SingleViewDepthSensorAsset correctly sets position, orientation, translation on __init__.
SingleViewDepthSensorAsset.initialize validates depth sensor attributes before setting on render product prims.
Camera.set_opencv_pinhole_properties and Camera.set_opencv_fisheye_properties now correctly set imageSize attribute as Camera._resolution.
isaacsim.sensors.camera.ui
Added
Restored SICK Inspector83x
isaacsim.sensors.physics
Changed
Fixed contact sensor implementation
Use device-generic memory buffer implementation to enable tensor API processing on the GPU for IMU sensor
Fixed
Orientation bug for contact and IMU sensor
isaacsim.sensors.physx
Changed
Standardized sensor creation command arguments
Fixed
Setting LightBeam sensor orientation and translation works correctly
isaacsim.sensors.physx.ui
Added
Tashan TS-F-A sensor under “LightBeam” menu
isaacsim.sensors.rtx
Added
kwargs to LidarRtx.attach_annotator and LidarRtx.attach_writer to specify keywords upon Annotator or Writer initialization
GenericModelOutput explicitly added to valid arguments in LidarRtx.attach_annotator
New APIs to apply non-visual material attributes to Material prims, resolve non-visual material ID as base/coating/attribute.
Per-frame output option to IsaacCreateRTXLidarScanBuffer
StableIdMap annotator available in LidarRtx class
New static methods in LidarRTX class to decode StableIdMap output into map of stable IDs to prim paths, and resolve GenericModelOutput object IDs as 128-bit stable IDs.
Removed
No longer using CSV mapping from visual to non-visual materials as default behavior, favoring USD attribute specification instead
IsaacExtractRTXSensorPointCloud node no longer used
Unused CUDA kernels removed
Motion BVH no longer enabled by default.
Changed
Specify rtx.materialDb.nonVisualMaterialSemantics.prefix as “omni:simready:nonvisual” to align with SimReady spec
Use CUDA graphs, improved kernels, and cached device properties in IsaacCreateRTXLidarScanBuffer to improve performance
IsaacExtractRTXSensorPointCloudNoAccumulator annotator now uses IsaacCreateRTXLidarScanBuffer node with per-frame output enabled
Use SimulationManager instead of deprecated CoreNodes APIs for time related APIs
Add dependency on isaacsim.core.simulation_manager
Fixed
LidarRtx warns if rational time is 0/0 and will not collect simulation time or Annotator data in that case
Fixed docstring references to nonexistent annotators
LidarRtx no longer resets prim orientation and position if called with existing prim path
IsaacCreateRTXLidarScanBuffer outputs correct timestamps
isaacsim.sensors.rtx.ui
Changed
RTX Lidar menu options now use IsaacSensorCreateRtxLidar command to align with other APIs
isaacsim.simulation_app
Added
Add builtins flag to indicate that the SimulationApp class has been launched
Changed
Added skip_cleanup parameter to close method
Update docstrings
Fixed
Fix hang on shutdown by forcing the current stage to close
Fix issues where simulation app viewport was not fully initialized on startup
Fix issue where experience could not be None
Fix hang on startup when waiting for viewport to be ready
Fix for hang on exit
Force headless mode if DISPLAY environment variable is not set on Linux
Update SimulationApp class docstrings to clarify the default behavior when loading experience files
isaacsim.storage.native
Added
Added resolve_asset_path_async utility function to resolve asset paths by checking original location and falling back to asset root
Add skip_check optional argument to allow skipping the verification check step when resolving the asset root path
Added the find_filtered_files and find_filtered_files_async utility to recursively search for USD files with configurable depth and pattern matching.
Added is_local_path utility to determine if a given path is a local file path or a remote (e.g., Omniverse) URL.
Fixed
isaacsim.test.collection
Changed
Moved test_randomizer_snippets.py tests to isaacsim.replicator.examples
isaacsim.util.camera_inspector
Fixed
Fix the broken documentation links
omni.isaac.core_archive
Changed
Removed unused python packages: numpy-quaternion, selenium, construct, nvsmi, plotly
Update to osqp==0.6.7.post3
Remove jinja2 as its in omni.kit.pip_archive
omni.isaac.ml_archive
Changed
Version bump to fix extension publishing issues
Update to sympy 1.13.3 for ARM64
omni.pip.cloud
Changed
Update to aioboto3==15.1.0
Update to aiobotocore==2.24.0
Update to boto3==1.39.11
Update to botocore==1.39.11
Update to awscrt==0.23.8
Update to s3transfer==0.13.1
Update to msal==1.27.0
Remove typing-extensions as its in omni.kit.pip_archive