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Release Notes#

6.0.0 GA#

Release Highlights#

General#

  • Updated to Kit 110.1.1.

  • Improved rendering performance and fidelity with multitick rendering. Cameras and RTX Lidars can be scheduled and rendered at rates and offsets driven by physics simulation time.

PhysX and Newton#

  • Added experimental support for the Newton physics engine.

    • C++ and Python tensor APIs for Newton are similar to PhysX. The isaacsim.core.experimental APIs provide an engine-agnostic interface to physics data.

    • ROS 2 Bridge handles the Newton backend similarly to PhysX. All OmniGraph nodes are compatible with Newton and PhysX.

  • URDF and MJCF importers apply Newton schemas to imported assets.

Synthetic Data Generation#

  • Perception Data Generation (Replicator)

    • Added end-to-end synthetic data generation (SDG) workflow examples using the Replicator Functional API to author, randomize, simulate, and collect annotated data.

  • Action and Event Data Generation

    • Actor Simulation and Synthetic Data Generation (isaacsim.replicator.agent.core, isaacsim.replicator.agent.schema, and isaacsim.replicator.agent.ui): Added a behavior-tree based actor controller, collision triggers for collider-based reactions, Stop and Halt behaviors, custom writer support, and verbose or minimal config serialization in the UI.

    • Object Simulation and Synthetic Data Generation (isaacsim.replicator.object.core and isaacsim.replicator.object.ui): Added empty space detection.

    • Physical Space Event Generation (isaacsim.replicator.incident.core and isaacsim.replicator.incident.ui): Standardized incident-report metadata.

    • AI-based behavior tree generation (omni.ai.behavior_tree_gen.core and omni.ai.behavior_tree_gen.bridge): Added extensions that convert natural-language scenario descriptions into behavior tree JSON files.

    • Metropolis pipeline (omni.metropolis.pipeline): Added a shared configuration and centralized orchestration pipeline for Action and Event Data Generation extensions.

    • Integrated telemetry in the Action and Event Data Generation toolsets to monitor system efficiency and behavioral trends.

  • Teleoperation Synthetic Data Generation

    • Added support for teleoperation workflows (isaacsim.replicator.teleop) using the open NVIDIA Isaac Teleop framework. You can remotely control robots in simulation and build custom teleoperation applications.

    • Added support for episode recording and replay (isaacsim.replicator.episode_recorder). The recorder captures simulation state and teleoperation input to multi-episode HDF5 files for offline replay and SDG pipelines.

Robots#

  • Robot policy examples can run Newton policies with the Newton simulator.

  • URDF and MJCF importers can import multi-physics based assets and include new selection options for robot type and base type.

  • Added robots under Samples/Mujoco_Menageries for robots imported from MuJoCo Menagerie with the MJCF importer.

Sensors#

  • Cameras and Depth Sensors

    • Added clean APIs for sensor authoring and runtime data collection in isaacsim.sensors.experimental.rtx.

    • Added a structured light camera API with pattern projection and timing capability.

    • Expanded the camera asset catalog, including new sensors from Luxonis and SICK.

    • Improved pre- and post-ISP camera pipeline modeling fidelity with USD schemas instead of OmniGraph.

    • Deprecated the isaacsim.sensors.camera extension.

  • RTX Non-Visual Sensors

    • Added clean APIs for sensor authoring and runtime data collection in isaacsim.sensors.experimental.rtx.

    • Added RTX Acoustic ultrasonic sensor support.

    • Added support for instantaneous RTX Lidar full-scan point-cloud capture.

    • Expanded the RTX Lidar and RTX Radar asset catalog, including new sensors from Texas Instruments and SICK.

    • Deprecated the isaacsim.sensors.rtx extension.

  • Physics Sensors

    • Added clean APIs for sensor authoring and runtime data collection in isaacsim.sensors.experimental.physics.

    • Added a new Raycast sensor type with configurable ray origins, directions, and time offsets.

    • Deprecated the isaacsim.sensors.physics and isaacsim.sensors.physx extensions.

ROS#

  • Architecture and Modularization

    • Isaac Sim ROS 2 workflows are now fully supported on Windows through Pixi with the Isaac Sim ROS Workspaces repository.

    • ROS 2 Publish TF and Odometry now consume pre-computed transforms from IsaacComputeTransformTree. Direct targetPrims input for these ROS 2 OmniGraph nodes is deprecated.

    • ROS 2 Bridge migrated to the experimental core and sensor APIs: isaacsim.core.experimental.* and isaacsim.sensors.experimental.{rtx,physics}.

    • The URDFImportFromROS2Node Kit command is deprecated. Use RobotDefinitionReader and URDFImporter instead.

  • New features

    • Added OgnROS2RtxRadarHelper to publish RTX Radar as PointCloud2.

    • Tensor-backed ROS 2 nodes run against any registered physics engine, including Newton.

    • Added Simulation Control services for GetEntityBounds, SpawnEntities, and GetSpawnables.

    • Added wait_for_publishers_on_topic and wait_for_subscribers_on_topic helpers to ROS2TestCase.

  • Performance improvements

    • Reduced overhead of automatic namespace generation and isaac:nameOverride resolution on the publish path. Automatic namespace generation creates uniquely identifiable topics in multi-robot simulations, while name overrides let users customize published link names.

    • OgnROS2PublishJointState skips tensor view creation on the sensor-input path.

    • OgnROS2PublishTransformTree resolves toSdfPath once per entry and short-circuits invalid prims.

    • Point-cloud metadata fields are gated on matching output* flags, which prevents accidental message bloat.

  • Isaac Sim ROS Workspaces repository

    • Now accepts external contributions. See CONTRIBUTING.md for the updated contribution workflow.

    • Added a Pixi-managed Jazzy workspace with Windows dependency management through Pixi and RoboStack, plus PyPI-based Isaac Sim install support.

    • Added Windows launch-file support for Isaac Sim.

    • Added the isaacsim_clearpath_nav2 package for Nav2 integration with Clearpath robots.

    • Renamed the isaacsim package to isaacsim_bringup and migrated key packages from ament_cmake to ament_python.

Docker#

  • Added Docker Compose deployment for Isaac Sim + WebRTC web-viewer as a single stack.

  • Support for running multiple Isaac Sim instances in parallel on a single machine.

  • Full Docker container support for DGX Spark.

  • Added support for the Hub Workstation Cache container.

Live-streaming#

  • Added web-based livestreaming via WebRTC client accessible through Docker Compose.

  • Configurable signal port and stream port via environment variables.

  • The isaacsim.streaming.rtsp extension provides Real-Time Streaming Protocol (RTSP) live-streaming for camera render products in Isaac Sim. It captures rendered frames through a Replicator writer and publishes them over RTSP with omni.kit.livestream.rtsp.

  • Full DGX Spark livestreaming support.

Motion Generation#

  • Added support for task-based differential inverse kinematics with the Python Inverse Kinematics (PINK) implementation in isaacsim.robot_motion.pink.

SimReady Content#

  • The Isaac Sim content browser now depends on omni.simready.content.browser and includes the /Isaac/SimReady folder.

  • The SimReady Asset Search workflow supports File Index, AI, and WSCache search modes, including filters for names, natural-language phrases, SimReady profiles, features, and tags.

  • Added FANUC and Comau robot assets to the asset catalog. Additional FANUC robot assets (84+ models) are available in the Content Browser, and most have multiphysics-ready counterparts.

Breaking changes and deprecations#

Change

Action required

Removed in

Removed omni.isaac.* compatibility shims.

Migrate to isaacsim.* extensions.

6.0.0

Deprecated isaacsim.core.api, isaacsim.core.prims, and isaacsim.core.utils.

Migrate to isaacsim.core.experimental.* and isaacsim.core.simulation_manager.

Not specified.

Deprecated isaacsim.examples.extension.

Use the repo template system with ./repo.sh template new.

Not specified.

Deprecated isaacsim.replicator.mobility_gen.

Migrate to isaacsim.replicator.experimental.mobility_gen. No action is required for isaacsim.replicator.mobility_gen.ui.

Not specified.

Deprecated isaacsim.replicator.domain_randomization.

Migrate to isaacsim.replicator.experimental.domain_randomization.

Not specified.

Deprecated prim path inputs to ROS 2 OmniGraph nodes.

Refer to the migration guide.

Not specified.

Deprecated isaacsim.cortex.behaviors, isaacsim.cortex.framework, and isaacsim.cortex.examples.

Migration guidance is planned for 6.1.

Not specified.

Deprecated isaacsim.robot.manipulators, isaacsim.robot.manipulators.examples, and isaacsim.robot.manipulators.ui.

Refer to isaacsim.robot.experimental.manipulators.examples for recommended alternatives.

Not specified.

Deprecated isaacsim.robot.wheeled_robots.

Migrate to isaacsim.robot.experimental.wheeled_robots and isaacsim.robot.wheeled_robots.nodes.

Not specified.

Deprecated isaacsim.robot_motion.lula, isaacsim.robot_motion.lula_test_widget, isaacsim.robot_motion.motion_generation, and isaacsim.robot_motion.motion_generation.examples.

Migrate to isaacsim.robot_motion.experimental.motion_generation, isaacsim.robot_motion.cumotion, isaacsim.robot_motion.pink, isaacsim.robot_motion.cumotion.examples, and isaacsim.robot_motion.pink.examples.

Not specified.

Deprecated isaacsim.sensors.camera.

Migrate to isaacsim.sensors.experimental.rtx.

Not specified.

Deprecated isaacsim.sensors.rtx.

Migrate sensor authoring and runtime APIs to isaacsim.sensors.experimental.rtx. Use isaacsim.sensors.rtx.nodes for RTX sensor OmniGraph, annotator, and point-cloud debug-draw workflows.

Not specified.

Deprecated isaacsim.sensors.physics, isaacsim.sensors.physx, isaacsim.sensors.physx.examples, and isaacsim.sensors.physx.ui.

Migrate physics sensor APIs to isaacsim.sensors.experimental.physics. Use isaacsim.sensors.physics.examples, isaacsim.sensors.physics.nodes, and isaacsim.sensors.physics.ui for examples, OmniGraph nodes, and UI workflows.

Not specified.

Deprecated isaacsim.util.merge_mesh.

Migrate to omni.scene.optimizer.core.

Not specified.

Deprecated isaacsim.replicator.agent 0.x.x.

Migrate to isaacsim.replicator.agent 1.x.x. Refer to the migration guide.

Not specified.

Deprecated omni.isaac.ml_archive.

No replacement is available. Install PyTorch directly or manually enable the extension if needed.

Not specified.

Removed support for Camera prims as RTX sensors using JSON configs.

Migrate to isaacsim.sensors.experimental.rtx and OmniSensor prims.

6.0.0

Removed isaacsim.app.selector, isaacsim.benchmark.examples, and isaacsim.replicator.scene_blox.

No replacement is available.

6.0.0

Removed isaacsim.asset.browser.

Migrate to omni.simready.content.browser.

6.0.0

Known issues#

For known issues, see Known Issues.

Kit SDK Version#

Changed: 110.0.0 -> 110.1.1

Kit SDK Dependency Version Changes#

Added#

  • isaacsim.anim.robot.bt_nodes: 0.1.1

  • isaacsim.kit.xr.teleop.bridge: 1.1.2

  • omni.ai.behavior_tree_gen.bridge: 1.0.4

  • omni.ai.behavior_tree_gen.core: 1.0.2

  • omni.anim.behavior.bundle: 110.1.0

  • omni.anim.behavior.tree: 110.1.3

  • omni.anim.behavior.ui: 110.1.3

  • omni.behavior.scripting.bundle: 110.1.0

  • omni.behavior.scripting.ui: 110.1.0

  • omni.behavior.tree.bundle: 110.1.0

  • omni.behavior.tree.ui: 110.1.12

  • omni.cip.core: 2.0.17

  • omni.cip.mega: 2.0.14

  • omni.cip.mega.occupancy_map_ui: 2.0.7

  • omni.cip.mega.scenario_payload_ui: 2.0.5

  • omni.cip.mega.ui: 2.0.14

  • omni.cip.mega.waypoints_ui: 2.0.4

  • omni.cip.pip: 2.0.1

  • omni.cip.ui: 2.0.3

  • omni.cip.workspace: 2.0.1

  • omni.cip.wrapp_ui: 2.0.1

  • omni.kit.converter.gsplat: 0.1.14

  • omni.kit.livestream.rtsp: 10.2.3

  • omni.kit.thumbnails.usd: 1.0.12

  • omni.mega.schema: 2.0.5

  • omni.metropolis.agent_registry: 0.1.2

  • omni.physx.gpu: 110.1.11

  • omni.replicator.srtx: 1.1.11

  • omni.warehouse.creator.api: 1.1.2

  • omni.warehouse.creator.ui: 1.3.0

  • omni.wrapp.package_explorer: 2.4.3

Removed#

  • omni.kit.widget.schema_api: 1.0.4

  • omni.mesh_tools.libs: 110.0.1

  • omni.simready.configuration: 1.0.1

  • omni.simready.content.search: 1.0.5

  • omni.simready.paths: 0.1.0

  • omni.tools.array: 108.0.0

Changed#

  • isaacsim.anim.robot.core: 1.2.2 -> 1.4.2

  • isaacsim.anim.robot.schema: 0.1.0 -> 0.1.1

  • isaacsim.app.compatibility_check: 1.1.1 -> 1.1.3

  • isaacsim.replicator.agent.core: 1.2.6 -> 1.6.7

  • isaacsim.replicator.agent.schema: 0.1.0 -> 0.1.1

  • isaacsim.replicator.agent.ui: 1.0.20 -> 1.0.36

  • isaacsim.replicator.caption.core: 0.7.5 -> 0.7.10

  • isaacsim.replicator.incident.core: 0.11.7 -> 0.11.8

  • isaacsim.replicator.incident.ui: 0.6.3 -> 0.6.4

  • isaacsim.replicator.object.core: 0.11.8 -> 0.11.12

  • isaacsim.replicator.object.ui: 0.11.3 -> 0.11.5

  • isaacsim.util.debug_draw: 3.2.1 -> 3.2.2

  • omni.ai.langchain.agent.chat_iro: 2.2.8 -> 2.2.11

  • omni.ai.langchain.core: 2.2.5 -> 2.3.1

  • omni.anim.asset: 110.0.0 -> 110.1.0

  • omni.anim.behavior.core: 110.0.8 -> 110.1.4

  • omni.anim.behavior.schema: 110.0.1 -> 110.1.0

  • omni.anim.graph.bundle: 110.0.0 -> 110.1.1

  • omni.anim.graph.core: 110.0.3 -> 110.1.2

  • omni.anim.graph.schema: 110.0.0 -> 110.1.1

  • omni.anim.graph.ui: 110.0.1 -> 110.1.2

  • omni.anim.navigation.bundle: 110.0.0 -> 110.1.0

  • omni.anim.navigation.core: 110.0.3 -> 110.1.4

  • omni.anim.navigation.schema: 110.0.0 -> 110.1.0

  • omni.anim.navigation.ui: 110.0.2 -> 110.1.1

  • omni.anim.retarget.bundle: 110.0.0 -> 110.1.0

  • omni.anim.retarget.core: 110.0.3 -> 110.1.0

  • omni.anim.retarget.preview: 110.0.5 -> 110.1.0

  • omni.anim.retarget.ui: 110.0.1 -> 110.1.0

  • omni.anim.skelJoint: 110.0.3 -> 110.1.0

  • omni.anim.window.timeline: 110.0.0 -> 110.0.1

  • omni.asset_validator.core: 1.11.2 -> 1.19.3

  • omni.asset_validator.ui: 1.11.2 -> 1.19.3

  • omni.behavior.scripting.core: 110.0.4 -> 110.1.0

  • omni.behavior.tree.core: 110.0.4 -> 110.1.9

  • omni.behavior.tree.schema: 110.0.1 -> 110.1.0

  • omni.convexdecomposition: 110.0.7 -> 110.1.11

  • omni.cuopt.visualization: 1.4.0 -> 1.4.1

  • omni.flowusd: 110.0.0 -> 110.0.3

  • omni.graph.action_nodes: 2.10.2 -> 2.10.3

  • omni.graph.examples.cpp: 2.10.2 -> 2.10.3

  • omni.graph.nodes: 2.10.2 -> 2.11.1

  • omni.graph.nodes_core: 2.10.2 -> 2.10.3

  • omni.graph.telemetry: 3.10.2 -> 3.10.3

  • omni.graph.ui: 2.10.2 -> 2.10.3

  • omni.graph.window.core: 3.10.2 -> 3.10.4

  • omni.importer.onshape: 2.0.1 -> 2.0.3

  • omni.kit.asset_converter: 5.1.1 -> 5.1.4

  • omni.kit.browser.asset: 1.3.15 -> 1.3.16

  • omni.kit.browser.core: 2.3.17 -> 2.3.18

  • omni.kit.browser.folder.core: 1.12.1 -> 2.0.2

  • omni.kit.converter.cad: 209.0.0 -> 209.4.0

  • omni.kit.converter.common: 510.0.0 -> 510.1.3

  • omni.kit.converter.dgn: 510.0.0 -> 510.1.4

  • omni.kit.converter.dgn_core: 512.0.0 -> 512.3.0

  • omni.kit.converter.hoops: 510.0.0 -> 510.3.0

  • omni.kit.converter.hoops_core: 511.0.0 -> 511.3.0

  • omni.kit.converter.jt: 509.0.0 -> 509.1.2

  • omni.kit.converter.jt_core: 509.0.0 -> 510.1.0

  • omni.kit.graph.delegate.modern: 1.10.11 -> 1.10.15

  • omni.kit.graph.editor.core: 1.5.4 -> 1.5.8

  • omni.kit.graph.usd.commands: 1.3.2 -> 1.3.6

  • omni.kit.livestream.app: 10.1.0 -> 10.1.1

  • omni.kit.livestream.core: 10.0.0 -> 10.2.1

  • omni.kit.livestream.messaging: 1.2.1 -> 1.3.0

  • omni.kit.livestream.webrtc: 10.1.2 -> 10.3.2

  • omni.kit.pointclouds: 1.6.7 -> 1.6.14

  • omni.kit.prim.icon: 1.1.0 -> 1.1.1

  • omni.kit.profiler.tracy: 1.2.1 -> 1.2.0

  • omni.kit.property.physics: 110.0.7 -> 110.1.11

  • omni.kit.stagerecorder.core: 110.0.2 -> 110.0.9

  • omni.kit.timeline.minibar: 1.2.14 -> 1.2.13

  • omni.kit.tool.asset_exporter: 4.0.5 -> 4.0.7

  • omni.kit.tool.asset_importer: 5.1.3 -> 5.2.0

  • omni.kit.tool.measure: 200.0.7 -> 200.0.12

  • omni.kit.waypoint.core: 1.6.4 -> 1.6.9

  • omni.kit.widget.material_preview: 1.1.2 -> 1.1.3

  • omni.kit.window.collection: 0.3.4 -> 0.3.5

  • omni.kit.window.material_graph: 1.9.6 -> 2.2.0

  • omni.kit.window.movie_capture: 2.7.4 -> 3.0.1

  • omni.metropolis.pipeline: 0.0.5 -> 0.0.9

  • omni.metropolis.schema: 0.0.1 -> 0.0.3

  • omni.metropolis.utils: 1.0.5 -> 1.1.2

  • omni.physics: 110.0.7 -> 110.1.11

  • omni.physics.isaacsimready: 110.0.7 -> 110.1.11

  • omni.physics.physx: 110.0.7 -> 110.1.11

  • omni.physics.physx.ui: 110.0.7 -> 110.1.11

  • omni.physics.stageupdate: 110.0.7 -> 110.1.11

  • omni.physics.tensors: 110.0.7 -> 110.1.11

  • omni.physics.ui: 110.0.7 -> 110.1.11

  • omni.physx: 110.0.7 -> 110.1.11

  • omni.physx.asset_validator: 110.0.7 -> 110.1.11

  • omni.physx.bundle: 110.0.7 -> 110.1.11

  • omni.physx.camera: 110.0.7 -> 110.1.11

  • omni.physx.cct: 110.0.7 -> 110.1.11

  • omni.physx.commands: 110.0.7 -> 110.1.11

  • omni.physx.cooking: 110.0.7 -> 110.1.11

  • omni.physx.demos: 110.0.7 -> 110.1.11

  • omni.physx.fabric: 110.0.7 -> 110.1.11

  • omni.physx.foundation: 110.0.7 -> 110.1.11

  • omni.physx.graph: 110.0.7 -> 110.1.11

  • omni.physx.pvd: 110.0.7 -> 110.1.11

  • omni.physx.supportui: 110.0.7 -> 110.1.11

  • omni.physx.tensors: 110.0.7 -> 110.1.11

  • omni.physx.tests: 110.0.7 -> 110.1.11

  • omni.physx.tests.visual: 110.0.7 -> 110.1.11

  • omni.physx.ui: 110.0.7 -> 110.1.11

  • omni.physx.vehicle: 110.0.7 -> 110.1.11

  • omni.replicator.core: 1.13.4 -> 1.13.25

  • omni.replicator.nv: 1.1.0 -> 1.1.1

  • omni.scene.optimizer.analysis: 110.0.4 -> 110.1.0

  • omni.scene.optimizer.bundle: 110.0.4 -> 110.1.0

  • omni.scene.optimizer.core: 110.0.4 -> 110.1.0

  • omni.scene.optimizer.ui: 110.0.4 -> 110.1.0

  • omni.scene.optimizer.validators: 110.0.4 -> 110.1.0

  • omni.services.client: 0.5.4 -> 0.5.6

  • omni.services.convert.asset: 510.0.0 -> 510.0.2

  • omni.services.convert.cad: 508.0.0 -> 508.0.3

  • omni.services.core: 1.9.3 -> 1.10.0

  • omni.services.pip_archive: 0.18.6 -> 0.18.7

  • omni.simready.content.browser: 0.2.4 -> 0.3.7

  • omni.usd.fileformat.e57: 1.7.0 -> 1.7.4

  • omni.usd.fileformat.pts: 108.0.0 -> 110.0.2

  • omni.usd.metrics.assembler: 110.0.0 -> 110.1.2

  • omni.usd.metrics.assembler.physics: 110.0.7 -> 110.1.11

  • omni.usd.metrics.assembler.ui: 110.0.0 -> 110.1.1

  • omni.usd.schema.metrics.assembler: 110.0.0 -> 110.1.0

  • omni.usd.schema.physx: 110.0.7 -> 110.1.11

  • omni.usdex.libs: 2.2.1 -> 2.2.2

  • omni.usdphysics: 110.0.7 -> 110.1.11

  • omni.usdphysics.ui: 110.0.7 -> 110.1.11

  • omni.warehouse_creator: 0.4.4 -> 1.0.0

  • omni.warp.core: 1.12.0 -> 1.13.0

Extensions Changelog Summary#

Please refer to the individual extension changelogs for more detailed information. A handful of cross-cutting changes landed in many extensions this release; rather than repeat them per extension, they are called out once here:

  • Many extensions were migrated onto the Core Experimental API (isaacsim.core.experimental.*), isaacsim.core.simulation_manager, and isaacsim.core.rendering_manager, replacing the deprecated isaacsim.core.api and isaacsim.core.utils dependencies.

  • The Newton physics backend is supported more broadly: importers, prims, and robot policies now author Newton schemas (NewtonArticulationRootAPI, NewtonMimicAPI) and select the Newton-compatible USD physics variant when Newton is the active engine. The matching PhysxArticulationAPI / PhysxMimicJointAPI authoring is dropped from importer and rule output; the runtime consumes the Newton schemas directly.

  • Multitick rendering is enabled across the RTX sensor, ROS 2, UCX, and SimulationApp pipelines, with the corresponding non-multitick code paths removed. Multitick simulation time is now communicated via the /ExternalSimulationTime Fabric prim instead of the previous set_next_simulation_time / SWHExternalSimulationTime event API.

  • The deprecated omni.isaac.ml_archive dependency was removed from many extensions; the extension itself is now marked deprecated and its bundled PyTorch was updated to 2.11.0+cu128 (torchvision 0.26.0+cu128, torchaudio 2.11.0+cu128).

  • Python binding modules across many extensions were moved into bindings/ subdirectories. The public Python import paths (for example isaacsim.core.experimental.prims.bindings._<name>) shift accordingly; downstream code importing from the old top-level binding location needs to be updated.

  • Menu registrations across many extensions migrated from the deprecated onclick_fn to onclick_action, and many extensions moved to the shared UI library (isaacsim.gui.components).

  • Common documentation refreshes (Overview.md, python_api.md, SETTINGS.md, docstrings) landed across many extensions; individual extensions do not re-list these.

  • isaacsim.app.about

    • Changed

      • Redesigned the About dialog: removed the OK button (dismiss via the titlebar), aligned header rows, simplified the plugin list, restyled the hover tooltip, and fixed the clipped OK button and the clipboard “Kit SDK Version” separator.

  • isaacsim.app.setup

    • Added

      • Emit a telemetry event for app startup duration via isaacsim.core.telemetry.

    • Removed

      • Removed the isaacsim.core.telemetry dependency and direct telemetry calls from app startup (the event is now emitted indirectly).

  • isaacsim.asset.exporter.urdf

    • Added

      • Round-trip drive breadcrumbs: isaac:source_drive XML comments preserve DriveAPI gains (stiffness, damping, max force, target position), MjcActuator parameters, and PhysxJointAPI armature across URDF export and import.

    • Changed

      • Rewritten as a physics-graph-driven converter (UsdToUrdfConverter).

      • Switched to codeless PhysX schema usage; uses direct prim.ApplyAPI() / prim.CreateAttribute() calls instead of pxr.PhysxSchema typed-API classes.

      • matrix4_to_origin now decomposes the matrix via Gf.Transform so roll-pitch-yaw is computed from the unscaled rotation; ExtractRotation on a scaled matrix produced incorrect angles.

      • Split into an API extension (this) and a UI extension (isaacsim.asset.exporter.urdf.ui); removed the nvidia-srl-usd-to-urdf dependency.

    • Fixed

      • DriveAPI values no longer incorrectly populate URDF <dynamics>, <limit effort>, or <calibration reference_position>; these elements now only contain passive joint properties per the URDF-to-USD concept mapping.

      • Preserve mesh scale when exporting instanceable geometry containers; the scale is emitted on the URDF <mesh scale=...> attribute instead of being dropped.

      • Replaced Usd.Prim.GetAncestorsRange (C++-only API) with a GetParent walk in mesh prototype path resolution; the previous code raised AttributeError whenever a non-instanced mesh was exported.

  • isaacsim.asset.exporter.urdf.ui

    • New extension

  • isaacsim.asset.gen.conveyor

    • Added

      • create_conveyor_belt public Python API as a direct replacement for the CreateConveyorBelt Kit command.

    • Deprecated

      • CreateConveyorBelt Kit command, in favor of create_conveyor_belt().

    • Fixed

      • Conveyor texture animation is now restored on stop. The StopPlay handler in OgnIsaacConveyor::initInstance performs the restore synchronously from the event callback (subscribing to omni::timeline::kGlobalEventStop); the previous deferred requestCompute flow silently dropped the restore. Regression introduced in the Kit 107.3 event-dispatcher migration.

      • Eliminated an off-by-one frame drift on stop by gating the texture-animation block in OgnIsaacConveyor::compute() on a new m_isPlaying flag set from the StartPlay / StopPlay callbacks.

      • create_conveyor_belt now applies UsdPhysics.MeshCollisionAPI with the convexHull approximation on UsdGeomMesh prims, so PhysX accepts the resulting dynamic body instead of rejecting the default meshSimplification approximation.

      • Emit a one-shot CARB_LOG_WARN when IStageReaderWriter is unavailable so the FSD-mirror fallback to USD-only authoring is observable in logs.

  • isaacsim.asset.gen.conveyor.ui

    • Changed

      • Replaced omni.kit.commands.execute("CreateConveyorBelt") call sites with direct create_conveyor_belt() API.

      • Replaced the MDL “Ghost” / “GhostVolumetric” preview material with a viewport selection group tinted green via omni.usd.UsdContext.register_selection_group.

    • Removed

      • data/Ghost.mdl and data/GhostVolumetric.mdl (no longer referenced).

      • mdl_file argument to ConveyorBuilderWidget.__init__ and the matching Extension.mdl_file plumbing.

  • isaacsim.asset.gen.omap

    • Fixed

      • Fixed the compute_coordinates() return type annotation from np.matrix to np.ndarray and replaced the deprecated np.matrix with np.array and the @ operator.

  • isaacsim.asset.gen.omap.ui

    • Changed

      • UI improvements: unified filename field, auto-updating YAML, and the window docks to the Property panel.

  • isaacsim.asset.importer.heightmap

    • Changed

      • The heightmap ground plane is now sized from the generated occupancy map’s world-space bounds (via UsdGeom.BBoxCache) and created after the heightmap instances, so it always covers the geometry.

    • Fixed

      • SetDefaultPrim no longer fails when /World does not exist; it is created automatically.

      • The heightmap importer no longer crashes on grayscale images (PIL modes L, I, F) that produce 2D NumPy arrays.

      • Raise ValueError for non-PIL heightmap inputs before modifying the stage, and propagate image-processing failures instead of silently returning an empty heightmap (6132964).

      • Show the file picker after the Load Image button creates it, unblocking PNG selection from the UI (6083539).

  • isaacsim.asset.importer.mjcf

    • Added

      • Over-constrained joints (multiple single-axis joints sharing a body pair) are combined into a single PhysX D6 joint in the PhysX variant; the MuJoCo/Newton variants keep per-DOF authoring. The redundant single-axis joints are removed from the PhysX variant; all edits stay in the PhysX overlay layer.

      • MJCFImporterConfig.fix_base is now a tri-state bool | None: True adds a world-to-root fixed joint, False makes the robot floating-base, and the new default None leaves the source asset’s base authoring untouched.

    • Changed

      • Added omni.usd.schema.mujoco and omni.hydra.usdrt_delegate dependencies.

      • Updated mujoco-usd-converter to 0.2.0.

      • Imported MJCF articulation roots no longer carry PhysxArticulationAPI; self-collision is authored via NewtonArticulationRootAPI (newton:selfCollisionEnabled) on top of the standard UsdPhysics.ArticulationRootAPI.

      • Imported MJCF mimic joints are now expressed exclusively through NewtonMimicAPI (newton:mimicJoint, newton:mimicCoef0, newton:mimicCoef1); PhysxMimicJointAPI is no longer authored.

      • Replaced the Kit extension-manager lookup for the default profile path with the new isaacsim.asset.transformer.rules.DEFAULT_PROFILE_PATH constant.

      • Intermediate artifacts (usdex layers, temp stage) are written to a system temp directory via tempfile.mkdtemp() in non-debug mode, avoiding PermissionError when importing from read-only locations.

      • MassAPI is only added when a non-default density is set on a link; links with no mass no longer have a MassAPI applied.

      • Only MeshCollisionAPI (not PhysxArticulationAPI) is now authored on articulation roots; gates extension.py so the package can be imported outside Kit.

      • Added a deprecation notice to commands_api.md for MJCFCreateImportConfig and MJCFCreateAsset Kit commands.

    • Fixed

      • Fixed a SIGSEGV crash in UsdStage::~UsdStage between tests by stopping the timeline and flushing run-loop frames in teardown.

      • With run_asset_transformer=False, import_mjcf() no longer crashes writing to a non-existent output directory. The intermediate stage is only materialized when the transformer needs it.

  • isaacsim.asset.importer.mjcf.ui

    • Added

      • “Base Type” dropdown in the Options frame with three choices (Source / Fixed / Mobile) that drives the new tri-state MJCFImporterConfig.fix_base field.

    • Changed

      • Multi-file selection and import in the UI.

      • Robot Type dropdown.

      • Updated treeview identifier to filebrowser_grid_view.

    • Fixed

      • Multi-select import now builds an independent OptionWidget / config / models per selected MJCF file, so edits to one file’s panel no longer bleed into another’s settings.

  • isaacsim.asset.importer.urdf

    • Added

      • Round-trip drive, geometry, and joint reconstruction from isaac:source_* breadcrumb comments restores DriveAPI gains, capsule/cone primitives, and multi-DOF joints (SphericalJoint, D6Joint) on import.

      • URDFImporterConfig.fix_base is now a tri-state bool | None (fixed / floating-base / source as-is).

    • Changed

      • Imported URDF articulation roots no longer carry PhysxArticulationAPI; self-collision is authored via NewtonArticulationRootAPI (newton:selfCollisionEnabled).

      • Imported URDF mimic joints are now expressed exclusively through NewtonMimicAPI.

      • Updated urdf-usd-converter to v0.1.2.

      • Replaced pxr.PhysxSchema typed-API usage in the drive reconstruction module with direct prim.ApplyAPI() / prim.CreateAttribute() calls.

      • Replaced the Kit extension-manager lookup for the default profile path with isaacsim.asset.transformer.rules.DEFAULT_PROFILE_PATH.

      • When the merged URDF is relocated to a temp directory, relative <mesh filename="..."/> entries are rewritten to absolute paths so downstream mesh resolution is preserved (package:// URIs are left untouched).

      • Intermediate artifacts are written to a system temp directory in non-debug mode, avoiding PermissionError from read-only locations.

      • Mass API authoring follows the MJCF importer behavior (only applied when a non-default density is set).

    • Fixed

      • Fixed a SIGSEGV crash in UsdStage teardown between tests.

      • With run_asset_transformer=False, import_urdf() no longer crashes writing to a non-existent output directory.

  • isaacsim.asset.importer.urdf.ui

    • Added

      • “Base Type” dropdown (Source / Fixed / Mobile) driving the tri-state URDFImporterConfig.fix_base field.

      • Auto-populate the ROS package table from package:// references found in the selected URDF.

      • package_scanner module that resolves package:// URIs to filesystem paths by walking parent directories.

    • Changed

      • Multi-file selection and import in the UI.

      • Moved checkbox_builder / dropdown_builder / string_filed_builder imports to isaacsim.gui.components.ui_utils.

      • Replaced local style definitions with the shared base style from isaacsim.gui.components.style.

    • Fixed

      • Multi-select import now builds an independent config per selected URDF, so edits no longer bleed across files or ROS package tables.

  • isaacsim.asset.importer.utils

    • Added

      • apply_floating_base helper in asset_utils (the inverse of apply_fix_base) that removes any FixedJoint anchoring the articulation root to the world.

      • parse_robot_name helper in importer_utils for validating the input file extension and parsing the name.

      • Collapse multiple single-axis joints sharing a body pair into a single PhysX D6 joint; remove the redundant joints from the PhysX variant.

      • File conflict / collision checks during import.

    • Changed

      • Added __all__ to asset_utils and added create_robot_schema / ROBOT_TYPE_TOKENS to importer_utils.__all__ so the package re-exports match config/python_api.md.

      • apply_link_density() now applies MassAPI to rigid-body links that lack it before authoring density, so callers no longer need a separate add_rigid_body_schemas() pass; links with an authored positive physics:mass are still skipped.

      • enable_self_collision marks articulation roots with UsdPhysics.ArticulationRootAPI plus NewtonArticulationRootAPI (newton:selfCollisionEnabled) instead of writing physxArticulation:enabledSelfCollisions / PhysxArticulationAPI. The PhysX schema enums remain available for code that reads existing data.

      • Replaced pxr.PhysxSchema typed-API usage with direct prim.ApplyAPI() / prim.CreateAttribute() calls across the importer utility modules.

      • Deferred isaacsim.asset.transformer import to run_asset_transformer_profile() to remove a module-level cross-extension dependency.

      • importer_utils.add_rigid_body_schemas() is retained for backward compatibility but will be removed in the future.

    • Removed

      • create_physx_mimic_joint helper from importer_utils; URDF and MJCF importers now leave joints as NewtonMimicAPI. The PhysxMimicAttr / PhysxMimicRel / PhysxSchema.MIMIC_JOINT_API enums remain available for code that reads existing PhysX mimic data (for example the URDF exporter).

  • isaacsim.asset.transformer

    • Changed

      • Documented the input-stage mutation contract on RuleInterface: args["input_stage"] is informational only and must be treated as fully read-only, including its session layer. Rules that need to author overrides while reading from the original input must open a private Usd.Stage from args["input_stage_path"] and author into that stage’s session layer. The contract avoids mid-frame Hydra invalidations when the transformer runs against the editor’s active stage.

      • Removed direct Omni / carb dependencies.

    • Fixed

      • AssetTransformerManager._collect_assets now anchors dependency discovery and asset-path remapping to the source layer’s directory instead of the freshly-exported output layer, so relative asset paths (for example ../textures/foo.png) are rewritten correctly regardless of where the output payloads/ directory sits.

      • _collect_assets resolves relative asset paths against a priority-ordered list of candidate anchor directories (source root layer first, then every used sublayer’s directory), fixing the multi-sublayer case where an asset path authored in a sublayer was anchored at the wrong directory.

      • _collect_assets skips URI-style asset paths (omni://, http://, file://, …) in its remap step rather than attempting filesystem-relative resolution.

      • make_explicit_relative normalizes backslash separators to forward slashes so USD asset paths, sublayer identifiers, and references are portable across platforms.

  • isaacsim.asset.transformer.rules

    • Added

      • New rules: MergeMeshRule (merge visual mesh prims grouped under rigid bodies via Scene Optimizer), MjcToPhysxConversionRule (convert MJCF actuator/joint attributes to PhysX drive and joint schemas), UrdfToMjcPhysxConversionRule (convert URDF joint attributes to MJCF actuators and PhysX schemas), JointStateAPIRule (apply PhysxSchema.JointStateAPI to non-fixed joints missing it; wired into the Isaac Sim profile between Fix Physics Joint Poses and Route Materials).

      • DEFAULT_PROFILE_PATH module-level constant exposing the path to the bundled isaacsim_structure.json profile.

      • register_all_rules() standalone function for registering all built-in rules without Kit’s extension lifecycle.

      • discover_rule_classes() helper that walks the extension package and returns every concrete RuleInterface subclass.

      • GeometriesRoutingRule quantizes hashed geometry values to a physical 1 mm grid derived from the stage’s metersPerUnit and the mesh’s extent magnitude, so meshes authored in m, cm, or mm deduplicate at the same resolution instead of relying on raw float-string comparison. Large arrays (points, normals, UVs) are quantized via NumPy in C.

      • GeometriesRoutingRule tracks a global used_geometry_names set so newly emitted geometry names cannot collide with pre-existing entries when deduplication is enabled.

      • MakeListsNonExplicitRule now normalizes isaac:physics:robotLinks and isaac:physics:robotJoints relationships to prepend list ops, walking each prim’s GetPrimStack() so sublayered PrimSpecs are also rewritten.

      • canonical_builtin_mdl_path helper that returns the Kit-resolvable bare/suffix form of a built-in MDL path.

      • refresh_builtin_mdl_cache_async helper for best-effort upgrade of the built-in MDL cache from omni.kit.material.library.get_mdl_list_async; the Kit extension awaits this on startup, standalone callers can ignore it.

      • omni.kit.material.library declared as an optional = true dependency so the rules extension is usable without the material library.

      • visibility added to _INSTANCE_SPECIFIC_PROPERTIES so it is no longer baked into the geometry hash.

    • Changed

      • MjcToPhysxConversionRule and UrdfToMjcPhysxConversionRule no longer author PhysxMimicJointAPI from joints with NewtonMimicAPI; the runtime consumes NewtonMimicAPI directly.

      • PrimRoutingRule.process_rule() now raises ValueError when prim_types is unconfigured (missing, None, or empty) instead of silently logging and returning None. Disable a rule with enabled = false instead.

      • is_builtin_mdl and canonical_builtin_mdl_path consult an in-memory cache initialized from a hardcoded fallback at import time and upgraded by refresh_builtin_mdl_cache_async when available. The previously public BUILTIN_MDL_FILES / BUILTIN_MDL_PATH_SUFFIXES constants are replaced by private fallbacks.

      • register_all_rules() now discovers rule implementations dynamically via discover_rule_classes() instead of a hard-coded list.

      • GeometriesRoutingRule._compute_geometry_hash ignores xform properties and replaces str(value) hashing with a unit-aware quantization via _quantize_value.

      • No longer deletes PhysxMimicJointAPI and articulation roots by default in the Isaac Sim profile JSON.

    • Fixed

      • FlattenRule.process_rule no longer mutates any caller-owned USD state. It now opens a fresh private Usd.Stage from args["input_stage_path"] and authors variant blocks/selections through Usd.EditContext, fixing a librtx.hydra crash (Unable to find RP Prim from previous update pass!) when the Asset Transformer was run against the editor’s active stage.

      • GeometriesRoutingRule._compute_instance_delta_hash now incorporates the effective inherited purpose so a prototype mesh referenced by both a visual Xform (purpose=default) and a collision Xform (purpose=guide) is split into separate /Instances entries.

      • GeometriesRoutingRule propagates the effective purpose computed via UsdGeom.Imageable.ComputePurpose() instead of only the immediate parent’s authored value, so collision meshes whose purpose=guide is authored on an ancestor stay hidden through the routed instance.

      • GeometriesRoutingRule._make_references_non_instanceable no longer writes the flattened stage back to the source layer’s realPath on disk; idempotency of the full Isaac Sim profile is preserved.

      • MaterialsRoutingRule rewrites absolute or explicit-relative paths to project-local copies of Kit built-in MDLs into their canonical bare form (for example OmniPBR.mdl), so Kit’s MDL search paths resolve them.

      • MaterialsRoutingRule no longer duplicates local texture files when the target path already exists with identical content (files_are_identical short-circuits the rename loop).

      • MaterialsRoutingRule writes asset paths with forward-slash separators on Windows via make_explicit_relative.

      • MergeMeshRule, MjcToPhysxConversionRule, and UrdfToMjcPhysxConversionRule are now registered with the global RuleRegistry.

      • is_builtin_mdl now recognizes omnisurfacepresets.mdl, core_definitions.mdl, and path-suffix forms like nvidia/core_definitions.mdl.

      • JointStateAPIRule no longer imports pxr.PhysxSchema; it uses shared PhysX schema tokens from isaacsim.asset.importer.utils so standalone wheel imports do not require Kit-only schema bindings.

      • Added the standalone isaacsim.asset.importer.utils wheel dependency required by the rule token helper.

  • isaacsim.asset.transformer.ui

    • Added

      • New extension dependency: omni.kit.window.file (the Save / Save As implementation already shipped in the standard Isaac Sim app; the dependency is now declared explicitly).

      • Shared modal-slot helpers (_dismiss_active_modal / _build_modal_window) so modals are reliably destroyed (not just hidden) when replaced.

      • _save_active_stage_and_run thin wrapper around omni.kit.window.file.save that re-invokes _run_actions from its completion callback (and surfaces an error dialog on save failure).

    • Changed

      • _is_active_stage_unsaved() returns True for both never-saved stages and previously-saved stages with pending in-memory edits (omni.usd.get_dirty_layers(stage, recursive=True) non-empty), because the transformer reads from disk.

      • _resolve_input_stage_path() returns (path, error_message) so the caller can render the specific failure reason in the UI.

      • _show_confirmation_dialog() accepts optional confirm_label / cancel_label and uses a fixed button width (ui.Pixel(120)) instead of a character-count heuristic that broke under custom fonts, high DPI, and non-Latin glyphs.

    • Fixed

      • A cancelled or failed save now surfaces an error dialog instead of silently aborting.

      • _run_actions() no longer returns silently when the active stage is unsaved, when no actions are configured, when the output directory is unset, or when AssetTransformerManager.run() raises; each failure opens a modal dialog.

      • Per-rule failures returned by ExecutionReport.results are now surfaced via the same error dialog (capped at 10 entries with an “…and N more” suffix).

      • Unsaved-stage precheck shows a terse “Save Stage?” Yes / No / Cancel dialog before doing anything else.

  • isaacsim.asset.validation

    • Changed

      • Added DedupBaseRuleChecker to filter duplicate errors and warnings caused by multiple variants.

      • Removed a redundant fetch_results() after simulate() when collecting initial collider pairs in physics validation rules.

    • Fixed

      • RigidBodyHasMassAPI no longer crashes on rigid bodies missing MassAPI or the required mass attributes; missing-attribute errors are collected up front. It also no longer flags unauthored principalAxes on assets that fall back to the schema default.

      • HasArticulationRoot, JointsExist, and LinksExist only fire on stages that actually contain joints.

      • NonAdjacentCollisionMeshesDoNotClash skips pairs where either collider is outside the defaultPrim subtree (filters out ground planes) and walks to the nearest RigidBodyAPI ancestor for adjacency lookup, fixing false positives on nested collision layouts.

      • Fixed antipodal-quaternion matching in JointHasCorrectTransformAndState.

      • Fixed false positives in drive-joint and collision-mesh-purpose rules.

      • Repaired the failing validator dedup mixin test.

      • Physics layer naming rules now accept the transformer output naming convention.

  • isaacsim.benchmark.services

    • Added

      • Physics-step-interval recorder tracking the duration between physics update steps.

      • Support for warmup frames when starting a benchmarking phase.

      • rtf_stability recorder: windowed real-time factor (sim time / wall time) with mean/stdev. Controlled by /exts/isaacsim.benchmark.services/rtf_stability/window_wall_ms and /exts/isaacsim.benchmark.services/rtf_stability/export_window_samples; default wall window 100 ms.

      • rtf_stability derived metrics: percent of windows within ±0.01 / ±0.10 of the phase mean windowed RTF.

    • Changed

      • Multitick validation features (timestamp tolerance, golden directory management) added to validation.py.

      • Frametime metric sample trimming is now disabled by default.

  • isaacsim.code_editor.jupyter

    • Changed

      • Added internal token-based authentication to prevent code execution by unauthenticated sources.

    • Fixed

      • from __future__ import annotations no longer shadows the __future__ module.

      • Replaced mutable default arguments in Executor.__init__ with None defaults.

      • SystemExit and BaseException subclasses in user code are now caught and returned as errors instead of crashing the application.

  • isaacsim.code_editor.python_server

    • Added

      • Fire-and-forget mode ("fire_and_forget": true in the envelope) returns an immediate {"status": "ok", "fire_and_forget": true, "task_id": "<uuid>"} and runs the code in the background; results are retained for up to 100 tasks (FIFO eviction) and retrievable via introspection.

      • Introspection endpoint ({"introspect": "<command>"}) for contexts, context, tasks, task, delete_context, status.

      • JSON envelope protocol: {"code": ..., "args": ..., "timeout": ..., "context": ..., "fire_and_forget": ...}. Raw Python source is also accepted; a JSON-looking-but-invalid payload falls back to raw execution.

      • Keepalive elapsed time via the keepalive_interval setting (adds an elapsed_seconds field to the response when set and execution exceeds the interval).

      • Named execution contexts keyed by a string; the default context ("") preserves existing behaviour and each context is an independent persistent globals namespace.

      • Per-request execution timeout (timeout in the envelope or the execution_timeout setting). Async code uses asyncio.wait_for; sync code uses a background watchdog timer. Returns {"status": "error", "ename": "TimeoutError", ...}.

      • New settings: execution_timeout (default 0), keepalive_interval (default 0), and require_auth / auth_token. When authentication is required and no token is configured, the server generates one at startup.

      • Token authentication via the auth_token JSON envelope field or the # isaacsim-python-server-token: raw-source header.

      • New test suites test_advanced_features.py and test_protocol_robustness.py covering all new features and TCP fragmentation handling.

    • Fixed

      • Async user code (for example create_new_stage_async, update_app_async) no longer raises RuntimeError: Cannot enter into task on Python 3.12+. Replaced create_task(_await_and_reply) with manual coroutine stepping via _drive_coroutine() so user code never runs inside an asyncio Task.

      • TCP data is buffered until EOF instead of processing on first data_received call, preventing partial execution of fragmented payloads.

      • print() output from awaited coroutines is captured in the JSON response output field instead of being lost to real stdout.

      • RecursionError and MemoryError in user code no longer hang the server; exception handlers are resilient to secondary failures.

      • Replaced run_coroutine_threadsafe with ensure_future in data_received and scheduled execution via call_soon outside the transport’s _read_ready callback to avoid cannot enter context errors on Python 3.12+.

      • SystemExit and sys.exit() in user code are caught and returned as errors instead of crashing the application.

  • isaacsim.code_editor.vscode

    • Fixed

      • Eliminated a shell-injection risk by resolving code via shutil.which() and removing shell=True.

      • Show a Kit warning notification when VS Code cannot be launched because code is not available on the system.

  • isaacsim.core.api

    • Changed

      • ParticleMaterial lift / drag parameters, setters, and getters are now no-ops with deprecation warnings (PhysX removed physxPBDMaterial:lift / physxPBDMaterial:drag).

      • Removed the cloth.py standalone example, the deprecated deformable/cloth/particle tests, and the deformable-body/cloth API implementations (replaced by error stubs; PhysX removed these features).

      • Updated PhysicsContext to use the renamed PhysX attribute GpuMaxDeformableVolumeContacts.

    • Deprecated

      • Extension deprecated in favor of the Core Experimental extensions isaacsim.core.experimental.*.

    • Fixed

      • Extensive correctness fixes (60+) across ArticulationController, BaseTask, PhysicsContext, PhysicsMaterial, Robot/RobotView, Scene/SceneRegistry, SimulationContext, World, and the example tasks (FollowTarget, PickPlace, Stacking). Common patterns include: missing returns after carb.log_error, getters silently applying schemas as a side effect, NaN handling in apply_action, wrong keyword (position= vs translation=) in set_local_pose calls, raising the documented RuntimeError instead of leaking AttributeError when called before initialize(), and several incorrect default values / annotations in docstrings.

      • ArticulationController.get_applied_action / switch_control_mode / switch_dof_control_mode now raise the documented RuntimeError when called before initialize() (6132508).

      • PhysicsContext.get_gravity no longer crashes when the physics scene or gravity attribute is None; PhysicsContext.set_gravity no longer rejects zero magnitude (preserves downward direction); PhysicsContext.set_solver_type no longer accepts invalid strings; PhysicsContext.enable_stabilization is now correctly spelled (6014961, 6036079, 6036084, 6060122).

      • SimulationContext.add_physics_callback registers callbacks as pre-step instead of post-step (6035957). SimulationContext.render no longer skips fabric initialization when current_time == 0 (6035943). SimulationContext.get_physics_context() returns RuntimeError with an actionable message instead of None before reset_async().

  • isaacsim.core.cloner

    • Fixed

      • Handle zero-clone grid requests and invalidate cached grid transforms when the clone count changes.

      • Initialize cloner listener state before listener enable/disable calls.

      • Restore USD / Fabric change listeners when cloning exits with an exception.

      • Validate clone source prim paths before calling USD bindings.

  • isaacsim.core.deprecation_manager

    • Fixed

      • import_module no longer leaves the module unstubbed when an optional dependency (for example torch) is missing.

      • Skip exit_app during stub generation to prevent Kit shutdown when optional dependencies are missing.

  • isaacsim.core.experimental.actuators

    • New extension

  • isaacsim.core.experimental.materials

    • Added

      • Non-visual material.

  • isaacsim.core.experimental.primdata

    • New extension

  • isaacsim.core.experimental.prims

    • Added

      • Filterless contact API capturing all contacts for prims, plus ContactPointData, ContactEventData, ContactReportData structs and contact event type constants (kContactEventFound / Lost / Persist) in IPrimDataReader.h.

      • enableContactReporting() / getContactReport() virtual methods on the IPrimDataReader interface.

      • SdfPathToken.h with sdfPathToToken / tokenToSdfPath helpers for PhysX contact body identifiers.

      • Bumped CARB_PLUGIN_INTERFACE version to (2, 2).

      • Remote-simulator (remotesim) support for articulation DOF target writes; Articulation._deferred_switch_remotesim() switches engines after the PhysX prim query completes and is invoked from _on_physics_ready.

      • Tests verifying Articulation link, joint, and DOF names and indices are non-empty before physics initialization and match the post-physics enumeration for fixed-base and floating-base assets.

    • Changed

      • Decoupled the prim-data-reader interface from its implementation (implementation moved to isaacsim.core.experimental.primdata).

      • Added a configurable provider extension setting and lazy provider loading to enable the primdata extension on-the-fly.

      • Use SimulationManager.get_active_physics_engine() for Newton engine detection in RigidPrim and Articulation instead of checking for a _newton_stage attribute on the view object.

      • Quaternion reorder index array [6, 3, 4, 5] is cached per device at module level to avoid repeated allocation on get_world_poses / get_coms / set_world_poses / set_coms.

      • Articulation.get_dof_* and get_world_poses / get_velocities skip Warp fancy-indexing when indices=None and dof_indices=None (guarded for heterogeneous safety).

      • Improve the exception message related to xformOp reset status.

      • Added tests for the PhysX tensor-backed world transform path in IPrimDataReader.

    • Fixed

      • XformPrim.__init__ no longer raises TypeError for non-root articulation links (the offending raise carb.log_warn(...) is now a plain carb.log_warn(...)).

      • Populate Articulation metadata from USD when running with the remotesim backend.

      • Resolve descendant articulation targets to their containing articulation root.

      • Switch to the remotesim engine when other physics engines are still active, even if remotesim is already marked active.

      • Removed the obsolete SimState remote-push gate so articulation DOF commands continue writing to SimStateStorage when SimState mode is enabled.

      • Remove unused unitsResolve properties (other than xformOp:scale:unitsResolve) when resetting transformation operation attributes.

      • Fixed the link mass inverse test to not add epsilon to the denominator.

  • isaacsim.core.experimental.utils

    • Added

      • compute_relative_transform (transform utils, world matrices) and get_relative_transform (xform utils, USD prims).

      • look_at_matrix to compute a USD camera transform (Gf.Matrix4d) from eye and target positions, with automatic collinearity fallback.

      • upgrade_prim_semantics_to_labels for migrating deprecated Semantics.SemanticsAPI to UsdSemantics.LabelsAPI.

      • SimStateMode enum and get_simstate_mode() for SimState backend selection.

    • Changed

      • Breaking: euler_angles_to_quaternion and euler_angles_to_rotation_matrix now expect [roll, pitch, yaw] (XYZ) input order for both extrinsic and intrinsic conventions, enabling clean euler-to-quaternion-to-euler round trips.

      • Cache arange index arrays globally in ops.resolve_indices (keyed by (count, dtype, device)) so repeated x=None calls across callers reuse the same Warp array without re-allocating.

  • isaacsim.core.includes

    • Added

      • PhysicsEngine.h header with getActivePhysicsEngineName() to query the active physics simulation backend.

      • BindingsPythonUtils.h header for pybind11 bindings utilities.

    • Changed

      • Transforms.h uses getActivePhysicsEngineName() for simulation-view creation instead of defaulting to nullptr.

    • Fixed

      • Added Doxygen @cond to hide the internal template QuatFromAxisAngle in Quat.h.

      • Added warning logs when rigid-body APIs fail.

  • isaacsim.core.nodes

    • Changed

      • IsaacCreateRenderProduct supports SRTX render-product creation and reusing existing render products via the renderProductPrim input.

      • OgnIsaacComputeOdometry and OgnIsaacComputeTransformTree use getActivePhysicsEngineName() to select the simulation backend dynamically instead of hardcoding "physx".

      • IsaacComputeTransformTree caches parent world poses and uses quaternion math (instead of GfMatrix4d) for relative-transform computation, improving performance.

      • OgnIsaacComputeOdometry calls update() on the articulation/rigid-body view at the start of each physics tick to flush pending PhysX data before reading transforms and velocities.

      • OgnIsaacComputeTransformTree resolves isaac:nameOverride lazily at compute time, reads physics poses from the active backend, composes non-physics prims from cached USD local transforms, and only resizes output arrays when the pair count changes.

      • Switched to app_utils.update_app_async(...) in tests for multitick compatibility.

    • Fixed

      • IsaacComputeTransformTree applies a 180° X-axis rotation for UsdGeomCamera prims to convert USD camera convention to ROS optical frame.

      • IsaacArticulationController rejects command arrays whose length does not match the explicit joint selection, skips NaN entries instead of reading previous targets, validates all three command arrays atomically, and promotes silent db.log_warn failures to db.log_error with the prim path and exception text (6109472, 6113767, 6114423).

      • OgnIsaacComputeOdometry binds chassisPrim to a rigid-body view whenever the prim has UsdPhysicsRigidBodyAPI (even if it also has UsdPhysicsArticulationRootAPI), fixing incorrect odometry when Robot Assembler extends the articulation graph and shifts PhysX’s auto-selected root onto a non-chassis link.

      • OgnIsaacComputeOdometry walks isaac:physics:robotLinks to find a link with the appropriate physics API when chassisPrim carries IsaacRobotAPI but not UsdPhysicsRigidBodyAPI / UsdPhysicsArticulationRootAPI.

      • OgnIsaacComputeTransformTree reconstructs kinematic topology from isaac:physics:robotJoints when expanding IsaacRobotAPI targets so the emitted TF tree mirrors the joint graph instead of parenting every link to world.

      • OgnIsaacComputeTransformTree refines the IsaacRobotAPI fallback via isaacsim.robot.schema’s GetAllRobotComponents helper, skips self-loops, and applies the ROS optical-frame rotation to camera-sites.

      • OgnIsaacJointNameResolver no longer prints garbled memory in error messages (pass state.m_robotPath.c_str() rather than the std::string itself); descends the prim hierarchy when the supplied targetPrim / robotPath lacks UsdPhysicsArticulationRootAPI.

      • OgnOnPhysicsStep uses the generic IPhysicsSimulation API instead of the PhysX-specific IPhysx API for physics-step event subscriptions, enabling OmniGraph execution with any physics backend.

  • isaacsim.core.prims

    • Changed

      • Cloth and deformable prim implementations replaced with error stubs (PhysX removed these features).

      • Joint or DOF indices can now be specified when accessing data via the joint_names parameter, with the last one set as the default option.

      • Updated ParticleSystem for the renamed PhysX attribute and updated the return types of the RigidPrim annotations.

    • Deprecated

      • Extension deprecated in favor of the Core Experimental extension isaacsim.core.experimental.prims.

    • Fixed

      • Extensive correctness fixes (60+) across Articulation, GeometryPrim, RigidPrim, XFormPrim, Prim, SdfShapePrim, SingleArticulation, SingleRigidPrim, and ParticleSystem. Common patterns: missing return after the not-initialized guard; getters silently applying UsdPhysics.* / PhysxSchema.* APIs as a side effect; RigidPrim USD-fallback gravity boolean inverted; Articulation.apply_action / set_joint_efforts zeroing unspecified joints when partial joint_indices were passed; RigidContactView.__init__ missing the disable_stabilization parameter (6042901); RigidPrim len() on Warp arrays (use shape[0]); 4 GeometryPrim contact-force methods missing | None in their return annotations.

      • Prim._on_prim_deletion no longer falsely invalidates wildcard views (the .* regex matched /).

      • XFormPrim.set_world_poses(usd=False) no longer destroys non-uniform scale; XFormPrim.get_local_scales no longer returns NaN when a prim has no xformOp:scale.

      • Default state is re-converted when the backend changes after initialization (for example automatic numpy-to-torch switch for GPU pipelines).

  • isaacsim.core.rendering_manager

    • Added

      • _ensure_fabric_simulation_time class method to seed the /ExternalSimulationTime Fabric prim for the multitick renderer.

    • Changed

      • ViewportManager.set_camera_view now delegates look-at matrix computation to look_at_matrix from isaacsim.core.experimental.utils.transform.

    • Fixed

      • RenderingManager.set_dt() now updates Fabric’s default simulation-period settings (/app/settings/fabricDefaultSimPeriodNumerator and /app/settings/fabricDefaultSimPeriodDenominator) along with USD/timeline timing. Kit reads these defaults when creating Fabric history stages, so newly-created caches use a render-product period matching the requested rendering dt instead of Fabric’s 1/30 s default.

      • test_callback no longer asserts an exact 1:1 mapping between RenderingManager.render_async() calls and NEW_FRAME dispatches.

  • isaacsim.core.simulation_manager

    • Added

      • "remotesim" is supported in get_active_physics_engine() and switch_physics_engine(), including a PhysicsScene wrapper branch in create_scene().

      • Optional multitick support: TimeSampleStorage and the plugin interface use physics time to drive rendering time via the onPhysicsStep callback.

    • Changed

      • Multitick simulation time is communicated via the /ExternalSimulationTime Fabric prim instead of via the previous set_next_simulation_time API.

      • Refactored the stage event subscription to be lazily initialized with null-safety checks for USD context and stage.

      • Route Newton simulation-view creation through omni.physics.tensors.create_simulation_view with backend="newton" instead of the Python isaacsim.physics.newton.tensors implementation.

      • Stop unconditionally applying PhysxSceneAPI in C++ UsdNoticeListener / PluginInterface; the API is now applied by the engine-specific Python wrapper (PhysxScene).

      • Remove stale solver APIs (PhysxSceneAPI, MjcSceneAPI, NewtonXpbdSceneAPI) and re-create physics scene wrappers in SimulationManager._on_engine_switched() when switching engines.

      • When available, use integer time steps per second and step count to compute simulation time in the onPhysicsStep callback to eliminate accumulated bias from float timestep precision.

      • IPhysicsSimulation::getSimulationTimeStepsPerSecond() now returns the authoritative value, so the USD-attribute workaround in onPhysicsStep is removed.

      • PhysicsScene.get_dt() / set_dt() dispatch based on PhysxSceneAPI presence on the prim instead of querying the active engine.

      • Use local BindingsPythonUtils.h from isaacsim.core.includes instead of carb/BindingsPythonUtils.h.

      • Removed the Newton pip prebundle dependency.

    • Removed

      • Removed the non-multitick code path.

    • Fixed

      • Add missing @staticmethod decorator to 5 internal event callbacks (_on_simulation_registry_event, _on_stage_opened, _on_stage_closed, _on_play, _on_stop).

      • Fix simulation time using stale steps-per-second from the physics runtime when the rate is changed between stop/play cycles. Read the authoritative value from PhysxSceneAPI::timeStepsPerSecond instead of relying on the cached IPhysicsSimulation::getSimulationTimeStepsPerSecond().

      • Raise RuntimeError in PhysicsScene.set_dt(), set_enabled_gravity(), and set_max_solver_iterations() when NewtonSceneAPI is not applied, matching the PhysxScene error-handling pattern.

      • Restore mode-specific TimeSampleStorage handling for render-product reference times (multitick vs non-multitick).

      • Route base PhysicsScene timestep updates to the active engine so PhysX scenes do not author Newton timestep values that can hang playback.

  • isaacsim.core.throttling

    • Fixed

      • Async rendering is now disabled after the timeline play callback returns, preventing hangs when play-on-load examples start simulation while async rendering is enabled.

      • Async rendering no longer re-enables on timeline pause / stop while Replicator is capturing with attached annotators, preventing skipped writer frames.

  • isaacsim.core.utils

    • Deprecated

      • Extension deprecated in favor of the Core Experimental extension isaacsim.core.experimental.utils.

    • Fixed

      • Extensive correctness fixes (40+) across math, transform, stage, and prim utilities. Common patterns: zero-vector and zero-magnitude guards (normalize(), rotational_distance_single_axis(), lookat_to_quatf()); recursion on deep hierarchies (_get_world_pose_transform_w_scale()); crash-on-missing-prim or empty input (compute_aabb, compute_combined_aabb, get_mesh_vertices_relative_to, recompute_extents); O(N²) BFS/DFS concatenation in get_all_matching_child_prims / get_first_matching_child_prim; eval() security risk in set_prim_attribute_value() replaced with getattr resolution; save_stage() no longer destroys the existing USD file before content is committed.

      • Added the scalar-first (w, x, y, z) quaternion convention to the tf_matrix_from_pose docstring.

      • Preserve Warp quaternion conversion input device placement for CPU and CUDA arrays (6035739).

      • Stop treating valid semantic labels as incorrect merely because they are absent from the prim path (6036025).

  • isaacsim.cortex.behaviors

    • Deprecated

      • Extension deprecated. Will be replaced in 7.0 with simple examples and open-source equivalents.

  • isaacsim.cortex.examples

    • New extension

  • isaacsim.cortex.framework

    • Changed

      • Added the missing isaacsim.robot.manipulators dependency; removed the unused isaacsim.robot.manipulators.examples dependency.

    • Deprecated

      • Extension deprecated. Will be replaced in 7.0 with simple examples and open-source equivalents.

    • Fixed

      • MotionCommand.__init__ type annotation for approach_params corrected from Optional[np.ndarray] to Optional[ApproachParams].

  • isaacsim.examples.browser

    • Changed

      • The detail view mirrors a file browser: a category shows its directly-registered examples plus a folder tile for each immediate sub-category. Double-clicking a folder tile drills the tree selection into that sub-category.

      • Each ExampleCategoryItem owns its examples directly, removing the previous flat-dict / string-prefix lookup in get_detail_items.

    • Fixed

      • Added missing asyncio and omni.kit.app imports in property_delegate.py; the dynamic thumbnail-resize callback no longer raises NameError.

      • 6130501: Example browser detail panel was empty when clicking a synthetic parent category whose examples were only registered under sub-categories.

  • isaacsim.examples.extension

    • Deprecated

      • Extension deprecated in favor of the repo.sh template CLI system (./repo.sh template new); moved to source/deprecated/.

  • isaacsim.examples.interactive

    • Added

      • Docstring deprecation plus runtime warnings; use isaacsim.examples.base instead.

    • Changed

      • Added isaacsim.robot_motion.cumotion and isaacsim.robot_motion.experimental.motion_generation dependencies.

      • Updated imports to use isaacsim.robot.experimental.manipulators.examples; removed dependencies on Cortex.

      • Moved the base_sample module to the isaacsim.cortex.examples extension.

      • Updated Surface Gripper example to resolve the reverse-console functionality.

  • isaacsim.examples.ipc

    • New extension

  • isaacsim.examples.ui

    • Fixed

      • 6107587: Example UI window content overflowed on normal displays, hiding the lower frames. Window content is wrapped in a ui.ScrollingFrame with the vertical scrollbar always on, and the window is given an explicit default height=600.

  • isaacsim.gui.components

    • Changed

      • UI tweaks for the file icon.

      • Updated UI utility functions based on requirements from Isaac Sim importers.

    • Fixed

      • Eliminated shell-injection risk in on_open_IDE_clicked by resolving code via shutil.which() and removing shell=True.

      • Eliminated shell-injection risk in on_open_folder_clicked by replacing subprocess.Popen(["start", ...], shell=True) with os.startfile() on Windows.

      • 6105784: SearchListItemModel.filter_text() crashed with AttributeError when callers passed a list or tuple. Added _normalize_search_filter_text() to coerce None, list, and tuple inputs to a single string before splitting.

      • StateButton.is_in_a_state() returns False (not None) when not in state A; StateButton now guards against identical text for states A and B.

      • Widened style.get_style() return type to dict[str, Any] to accurately describe the "Tooltip" entry (a tuple of style dicts).

  • isaacsim.gui.content_browser

    • Added

      • Added the Robot Multiphysics folder.

    • Changed

      • Added isaacsim.storage.native as a dependency.

      • Resolve content browser folder paths relative to persistent.isaac.asset_root.default instead of hardcoding full URLs.

      • Updated the USD Search API endpoint.

      • Use omni.simready.content.browser default settings instead of overriding them.

  • isaacsim.gui.menu

    • Changed

      • Migrate extension implementation to the Core Experimental API.

    • Fixed

      • Help menu: OpenUSD Reference Guide, Warp Getting Started, and Warp Documentation now render reliably in isaacsim.exp.full.kit. The actions and MenuItemDescription entries are registered locally instead of binding to source= items not provided by the app’s dependency closure.

  • isaacsim.gui.property

    • Added

      • New Joint Inspector window (Tools > Robotics > Joint Inspector): a searchable, dockable joint table with PhysX / MuJoCo backend toggles, per-axis columns, multi-row editing, and a Save to Robot Layer button (SaveRobotSchemaToRobotLayer).

      • Column catalogue across five groups tagged by backend: Joint Limits, Drives, Performance Envelope, Joint State, MuJoCo Joint; column selection persists across robot switches.

      • Array Properties widget supports editing string[] and token[] USD attributes alongside the existing scalar/vector numeric arrays.

      • Added Attachment Point API to the Robot Schema UI menu.

      • JointInspectorWindowManager supports multiple concurrent windows via the + New Inspector button.

      • Joint-name filter is a single rounded input with fnmatch wildcards over joint name and full path.

      • Per-axis columns collapse to one when every joint authors at most one axis; fan out only for multi-DOF D6Joint.

      • Isaac API schemas registered with Kit’s MultiSchemaPropertiesWidget.__known_api_schemas to prevent Extra Properties duplication.

      • RobotAPIWidget rewritten with Figma-style layout, editable attribute fields, drag-reorderable Robot Joints / Robot Links, and a force_update toggle.

    • Changed

      • Robot-schema widget registrations now use collapsed_by_default=True.

  • isaacsim.gui.sensors.icon

    • Added

      • Recognize IsaacRaycastSensor for icon display.

    • Changed

      • Marked Lidar, IsaacLightBeamSensor, and Generic as deprecated in the SENSOR_TYPES list (kept for backward compatibility).

      • Updated the test default prim type from the deprecated Generic to IsaacContactSensor.

  • isaacsim.hsb.core

    • New extension

  • isaacsim.hsb.nodes

    • New extension

  • isaacsim.physics.newton

    • Added

      • CTRL_DIRECT actuator PD control via the tensor API, bridging set_dof_stiffnesses / set_dof_dampings / set_dof_position_targets to MuJoCo actuator parameters (gainprm, biasprm, ctrl) and setting biastype=AFFINE, so robot policies (for example Go2) work with Newton when USD uses mujoco:actuator rather than physics:driveAPI.

      • Document Newton asset compatibility limitations and workarounds.

      • Perform a device check before running simulation in simulation_manager to prevent double initialization when the device changes.

      • Regression tests for Newton initialization error handling; unit test exercising imported URDF and MJCF asset behavior on both PhysX and Newton.

    • Changed

      • Updated Newton pip dependencies to newton 1.2.0rc3, mujoco-warp 3.8.0.2, newton-usd-schemas 0.2.0.

      • Updated tensor frontend import paths for the omni.physics.tensors package restructuring.

      • Contact-force scaling in the tensor view uses SimulationManager.get_physics_dt() instead of the Newton stage sim_dt.

      • get_simulation_time_steps_per_second returns int rather than float to comply with omni.physics.core bindings.

    • Removed

      • Removed the isaacsim.core.utils dependency.

    • Fixed

      • Added cleanup_stale_newton_index to FabricManager to remove leftover newton:index from prims no longer tracked as dynamic bodies; bounds checking added in set_fabric_transforms to skip out-of-range body indices.

      • shape_gap default for static colliders corrected from 0.1 m to 0.0.

      • Stale model references fixed in all tensor view classes (NewtonSimView, ArticulationSet, RigidBodySet, RigidContactSet, and their frontend wrappers).

      • Unbounded growth of contact_callbacks and step_callbacks lists fixed by replacing tombstone lists with dict-based storage, so unsubscribed slots are reclaimed and iteration is O(active callbacks).

      • Forward the user-provided dt into simulate() when recording the CUDA graph so step times match the requested timestep.

      • MuJoCo solver: run Model.collide once per simulate() when use_mujoco_contacts is false, skip Newton collide when true, and call SolverMuJoCo.update_contacts after every simulate() so contacts.force and related fields match the solved MuJoCo state.

      • Newton contact tensor API: apply force sign convention in net and matrix kernels (add for shape0, subtract for shape1) so net contact forces match PhysX expectations.

      • Populate contact points from MuJoCo world-space positions when Newton Contacts do not provide rigid_contact_point0/1.

      • Resolve pre-physics articulation link, joint, and DOF metadata by parsing the USD subtree with Newton’s importer, so Articulation.dof_names and indices are available before physics is initialized and match the post-initialization order. Results are cached per (stage_id, prim_path) and invalidated on stage close.

      • Route set_dof_actuation_forces / get_dof_actuation_forces through control.joint_f so applied joint efforts drive the simulation.

      • Run the first simulation step without CUDA graph capture so Warp’s link-time optimization compilation for tile_matmul / tile_cholesky does not get recorded into a bad graph.

      • Try to load USD with a flattened stage when composition cycles are present.

      • Use the Newton collision pipeline as the default instead of MuJoCo.

  • isaacsim.physics.newton.tensors

    • New extension

  • isaacsim.pip.newton

    • Added

      • Added coacd 1.0.7 for convex-decomposition support.

    • Changed

      • Updated newton to 1.2.0, mujoco to 3.8.0, mujoco-warp to 3.8.0.3, newton-usd-schemas to 0.2.0, mujoco-usd-converter to 0.2.0, cbor2 to 5.9.0, imgui-bundle to 1.92.601, absl-py to 2.4.0, and etils to 1.13.0 (pinned for Python 3.10 build tool compatibility).

      • Removed the newton-actuators dependency.

  • isaacsim.replicator.behavior

    • Changed

      • The property-window refresh is dispatched via the new isaacsim.replicator.behavior.EXPOSED_VARS_CHANGED carb event (subscribed to by isaacsim.replicator.behavior.ui), so the core behaviors can run headless. The omni.kit.window.property dependency is dropped from the core extension.

      • Clarified LocationRandomizer docstrings for frame:useRelativeFrame and frame:targetPrimPath.

    • Fixed

      • _setup is now idempotent in TextureRandomizer, RotationRandomizer, LocationRandomizer, LightRandomizer, and LookAtBehavior. A play/pause/play loop previously re-cached the already-randomized state as “initial” and restored stale values on stop (for example pallets left bound to a removed randomizer material and rendered gray). Prim resolution, initial-state caching, and material creation now run only on the first entry of a play session; exposed variables are still re-read on every call.

      • LightRandomizer._reset skips cached inputs:intensity / inputs:color values that were unauthored at setup time and logs a warning instead of writing None back to the prim.

      • TextureRandomizer._apply_behavior skips the tick with a warning when no texture URLs are configured.

      • decompose_rotation supports single-axis xformOp:rotateX|Y|Z ops and raises ValueError for unsupported rotation orders.

  • isaacsim.replicator.behavior.ui

    • Added

      • Guarded the omni.kit.window.property import so the UI extension can be imported in headless contexts.

      • Subscribe to isaacsim.replicator.behavior.EXPOSED_VARS_CHANGED and refresh the property window when exposed variables are created or removed; replaces the direct omni.kit.window.property.request_rebuild() calls.

  • isaacsim.replicator.domain_randomization

    • Changed

      • Added extension-structure validation files (README.md, isaac-sim.svg, OGN node CategoryDefinition.json files).

  • isaacsim.replicator.episode_recorder

    • New extension

  • isaacsim.replicator.episode_recorder.ui

    • New extension

  • isaacsim.replicator.examples

    • Added

      • Multiple-captures with toggled render product while the timeline is running test.

    • Changed

      • Augmentation examples now use custom event-based randomization.

      • SDG GeomSubset semantic segmentation test added for perSubsetSegmentation true/false.

      • SDG deformables test now compares semantic segmentation labels instead of images.

      • Tests now store results in uniquely-named temp directories to avoid run-to-run test pollution.

      • Enable multitick in all tests.

  • isaacsim.replicator.experimental.domain_randomization

    • Changed

      • Registered OGN nodes under the isaacsim.replicator.domain_randomization namespace with backward-compatibility bridges for deprecated context, views, and simulation context.

    • Fixed

      • OgnWritePhysicsArticulationView no longer raises KeyError when randomizing tendon attributes on robots with no fixed tendons.

      • Module-level physics view state is now cleaned up on stage close/reload, fixing stale views accumulating across sessions.

  • isaacsim.replicator.experimental.mobility_gen

    • Added

      • MobilityGenMultiSensorRobot and MobilityGenSensorRig for YAML-driven multi-sensor robots; camera rendering is supported, other sensor types (lidar, IMU, radar) are discovered but not yet rendered.

      • generate_sensor_rigs.py script to discover sensor prims in a robot USD and scaffold sensor_rig: YAML blocks.

      • Camera calibration overrides (intrinsics, distortion, extrinsics) made in the UI are persisted to sensor_overrides.usda at recording time and re-applied during replay.

      • nurec_overrides module exporting is_nurec_stage and apply_nurec_replay_overrides. Detects NuRec stages by traversing for ParticleField prims; when detected, forces replay flags to the supported subset (RGB only) and re-asserts /rtx/rtpt/gaussian/skipTonemapping/enabled = False.

      • sensor_overrides.py module with save_sensor_overrides, apply_sensor_overrides, log_camera_properties.

    • Changed

      • state/common/ steps are now saved as .npz (named arrays) instead of .npy (pickled dict); use migrate_recordings.py to convert older recordings.

      • replay_directory.py invokes apply_nurec_replay_overrides after each load_scenario so per-recording flag overrides take effect before render-product attachment.

    • Fixed

      • Recordings are now self-contained, fixing broken texture/material references on replay when the source scene used external assets.

      • GridPoseSampler.sample_px falls back to full-map uniform sampling when the selected grid block has no freespace (fixes a ValueError: high <= 0 crash).

      • KeyboardButton._event_callback / KeyboardDriver._event_callback return True for handled WASD events so Kit’s carb.input stops propagating them to focused text fields (fixes buffered wwww... appearing in text fields after teleoperation).

      • MobilityGenRobot.update_state caches PhysX joint-index and quaternion-reordering arrays and removes a redundant get_world_poses() call; get_pose_2d replaces quaternion_to_euler_angles().numpy() with direct np.arctan2 yaw, eliminating per-step GPU-to-CPU sync.

      • MobilityGenWriter.write_state_dict_common offloads npz disk flush to a background thread with a bounded queue (max_pending=8).

      • OccupancyMap precomputes _freespace_mask_cache at construction and eliminates a duplicate world_to_pixel_numpy call.

      • Test runner: converted test classes from unittest.TestCase to omni.kit.test.AsyncTestCase so tests are awaitable; np.load mmap handles fixed on Windows to allow tempdir cleanup.

  • isaacsim.replicator.grasping

    • Fixed

      • get_gripper_joint_states returns POSIX joint keys on Windows (replaced os.path.relpath with a string slice).

      • simulate_physics_async and simulate_physics_with_forces_async restore the PhysX scene’s original updateType (or clear it if it was unauthored) via try/finally instead of permanently leaving the scene set to Disabled.

  • isaacsim.replicator.grasping.ui

    • Fixed

      • Set explicit checkbox / label widths so checkboxes are reliably toggled via the Omniverse Kit API.

  • isaacsim.replicator.mobility_gen.examples

    • Added

      • YAML robot configs (carter.yaml, jetbot.yaml, h1.yaml, spot.yaml) and concrete CarterMultiSensorRobot, JetbotMultiSensorRobot, H1MultiSensorRobot, SpotMultiSensorRobot; new WheeledMultiSensorRobot and PolicyMultiSensorRobot base classes.

      • generate_sensor_rigs.py script (same as in the core extension) to scaffold sensor_rig: YAML blocks.

    • Changed

      • Force USD payload loading before Articulation initialization to ensure ArticulationRootAPI is visible.

      • Migrated to isaacsim.core.experimental.prims (Articulation) in place of isaacsim.core.prims.

    • Fixed

      • RandomAccelerationScenario.step: removed a redundant update_state() call after write_action().

  • isaacsim.replicator.mobility_gen.ui

    • Changed

      • Migrated from the deprecated isaacsim.replicator.mobility_gen to isaacsim.replicator.experimental.mobility_gen.

      • Replaced objects.GroundPlane (core.api) with GroundPlane from isaacsim.core.experimental.objects.

      • Replaced set_active_viewport_camera with ViewportManager.set_camera.

      • Replaced legacy world-based simulation control with SimulationManager and the SimulationEvent.PHYSICS_POST_STEP callback.

      • Use save_stage without the deprecated save_and_reload_in_place argument.

    • Fixed

      • Call save_sensor_overrides on recording start to persist camera calibration changes made in the UI.

      • Use export_as_stage when caching the scene stage to prevent black images on replay.

  • isaacsim.replicator.synthetic_recorder

    • Changed

      • S3 checkbox bound directly to backend_type (single source of truth); the legacy use_s3 flag is still honored when loading old configs.

    • Fixed

      • “Use S3” UI checkbox now actually switches the backend (previously a no-op and recordings silently fell back to disk).

      • backend_params is rebuilt from scratch on Start so toggling Disk / S3 no longer leaks stale keys into backend.initialize().

  • isaacsim.replicator.teleop

    • New extension

  • isaacsim.replicator.teleop.ui

    • New extension

  • isaacsim.replicator.writers

    • Changed

      • Marked the PytorchListener and PytorchWriter implementations as deprecated.

    • Fixed

      • invert_fisheye_polynomial now logs a warning with the residual and iteration count when Newton-Raphson fails to converge within max_iterations, instead of silently returning the last iterate.

      • project_pinhole returns the screen center for camera points whose homogeneous w is near zero, preventing a divide-by-zero crash when projecting points on the camera’s projection plane.

  • isaacsim.robot.experimental.manipulators.examples

    • New extension

  • isaacsim.robot.experimental.wheeled_robots

    • Added

      • WheeledRobot integration test with kinematic distance assertion; directional sanity test for pure-forward command.

    • Changed

      • Removed [::-1] reversal in HolonomicController to match the new [roll, pitch, yaw] euler-angle convention.

    • Fixed

      • Added missing public property accessors on HolonomicRobotUsdSetup (wheel_radius, wheel_positions, …).

      • Fixed the euler-angle convention bug in HolonomicController that reversed motion direction.

      • Raise ValueError (instead of a cryptic TypeError) when HolonomicController is constructed without wheel_radius / wheel_positions / wheel_orientations / mecanum_angles.

      • Raise a clear ValueError when WheeledRobot is constructed without wheel DOF names or indices.

      • Raise an error when quintic_polynomials_planner() cannot find a trajectory satisfying acceleration and jerk constraints.

      • Reject non-finite normalize_angle() inputs instead of looping indefinitely.

  • isaacsim.robot.manipulators

    • Deprecated

      • Extension deprecated in favor of isaacsim.robot.experimental.manipulators.examples.

    • Fixed

      • Added a None guard in ParallelGripper.post_reset to prevent a crash when called before initialize().

      • PickPlaceController.__init__ and reset now reject events_dt with fewer than 10 entries.

  • isaacsim.robot.manipulators.examples

    • Deprecated

      • Extension deprecated in favor of isaacsim.robot.experimental.manipulators.examples.

    • Removed

      • FrankaExperimental, FrankaPickPlace, Franka Stacking (experimental), UR10Experimental, UR10FollowTarget, UR10 Stacking (experimental), and the interactive pick-place / follow-target UI extensions moved to isaacsim.robot.experimental.manipulators.examples.

  • isaacsim.robot.manipulators.ui

    • Deprecated

      • Extension deprecated in favor of isaacsim.robot.experimental.manipulators.examples.

  • isaacsim.robot.policy.examples

    • Added

      • Newton can be used as a physics backend.

      • Standing test for the Go2 policy that holds a zero command and asserts the robot remains upright.

      • Unit tests covering the snapshot / restore helpers in isaacsim.robot.policy.examples.interactive.utils, plus per-example roundtrip tests for Quadruped, Go2, and Humanoid.

    • Changed

      • Extracted the snapshot / restore physics-state logic shared by the interactive Quadruped, Go2, and Humanoid examples into isaacsim.robot.policy.examples.interactive.utils.

      • Defer the torch import to avoid loading it at startup.

      • Set reset_xform_op_properties=True when instantiating the Articulation.

    • Fixed

      • Apply PhysxArticulationAPI to the articulation root prim in PolicyController._set_articulation_props if missing, avoiding Empty typeName USD errors when the asset’s Physics variant does not author the API.

      • Fix physics-variant selection to match USD variant names case-insensitively (resolves H1 robot loading failure when the variant set uses Physx instead of physx); log a warning when the requested Physics variant is not declared.

      • Select the USD Physics variant from SimulationManager.get_active_physics_engine() so the Newton-compatible variant is chosen when Newton is active.

      • Select the asset’s Physics variant before constructing the Articulation in PolicyController.__init__ so UsdPhysics.ArticulationRootAPI is authored on a descendant prim before root resolution.

      • Restore the prior physics sim device and fabric state in the cleanup paths of the interactive examples so the PhysX direct-GPU API flag is not left enabled (which previously caused PxArticulationJointReducedCoordinate::setDriveTarget errors in subsequent sessions).

      • Register isaacsim.robot.policy.examples.robots as a public module in the extension manifest.

      • Spot fall-over issue in example resolved by reverting the physics dt to 500 Hz.

  • isaacsim.robot.poser

    • Changed

      • Cold-start IK ladder attempts now run concurrently on a concurrent.futures.ThreadPoolExecutor; latency is bounded by the slowest single solve instead of the sum of all attempts (the LM solver and chain.compute_fk are stateless with respect to the chain).

      • RobotPoser.apply_pose accepts either dict[str, float] (legacy) or a PoseResult; when a PoseResult with success=False is passed the call is a no-op and logs a warning instead of teleporting the robot to the lowest-error random-restart configuration.

    • Fixed

      • Cold-start IK (no seed= and no cached _last_solution) now seeds the Levenberg-Marquardt solver from a prioritized ladder (joint-limit midpoint, deterministic random restarts within joint limits, then zeros) instead of always starting from the all-zero configuration. Fixes silent success=False failures on redundant arms such as the 7-DOF Franka Panda.

      • solve_ik no longer trusts a stale _last_solution blindly: the cached seed is tried first, but if it does not converge the full cold-start ladder runs in parallel as a fallback.

      • Sanitize pose names via pxr.Tf.MakeValidIdentifier; empty, colon-containing, and non-ASCII names no longer crash store_named_pose / get_named_pose / delete_named_pose.

      • store_named_pose logs a warning when a sanitized name collides with an existing pose stored under a different raw name.

  • isaacsim.robot.poser.ui

    • Changed

      • Migrate extension implementation to the Core Experimental API.

  • isaacsim.robot.schema

    • Added

      • IsaacRaycastSensor USD schema type, plugInfo entry, sensor tokens, and a Python compatibility wrapper.

      • GetAllRobotComponents helper (C++ and Python): returns every prim in a robot’s subtree that applies any Isaac robot-schema API (IsaacRobotAPI, IsaacLinkAPI, IsaacJointAPI, IsaacSiteAPI, IsaacReferencePointAPI).

      • RecalculateRobotSchema gains a force_update kwarg that rebuilds robotLinks / robotJoints and authors cross-layer deletedItems.

      • SaveRobotSchemaToRobotLayer flushes composed state onto the layer authoring IsaacRobotAPI only, with referenced-layer support via namespace translation.

      • get_allowed_tokens(attribute) helper that reads allowedTokens directly from the bundled RobotSchema.usda.

      • Articulation-root scoring now picks the highest-parentness rigid body when the articulation root is a grouping Xform.

      • New shared _discover_articulation_graph helper with a root_link_override input for seeding traversal from a user-chosen base link.

      • Sub-robot boundary handling registers each sub-robot as one collapsed entry at its first boundary joint.

    • Changed

      • Migrated rangeSensorSchema and isaacSensorSchema from pre-built C++ typed schema libraries (omni-isaacsim-schema packman package) to codeless USD schemas. Added Python compatibility wrappers (omni.isaac.RangeSensorSchema, omni.isaac.IsaacSensorSchema) so existing Python consumers work without changes. All C++ consumers now use generic prim.GetAttribute(token) / prim.GetTypeName() instead of typed schema classes.

      • Removed the omni-isaacsim-schema packman dependency and associated native library entries.

      • Removed ultrasonic sensor schemas (UltrasonicArray, UltrasonicEmitter, UltrasonicFiringGroup, UltrasonicMaterialAPI) — no code references existed.

      • Removed the omni.usd dependency from extension.toml.

      • Added sensor_tokens.h header providing token constants for all sensor schema attributes and type names.

      • Replaced CARB_LOG_WARN with fprintf(stderr, ...) in the C++ header; replaced carb.log_* with Python logging.

      • Replaced omni.usd.get_world_transform_matrix with pure pxr UsdGeom.Xformable.ComputeLocalToWorldTransform.

      • Targets now written as prepend list ops via _set_targets_as_prepend, preserving additive composition with downstream layers.

      • PopulateRobotSchemaFromArticulation and RecalculateRobotSchema traverse DFS by default with a traversal kwarg ("dfs" | "bfs"); only register RigidBodyAPI prims as robotLinks and JointAPI prims as robotJoints; grouping Xforms skipped.

      • _apply_api is a no-op when the schema is already applied, preventing apiSchemas churn on recalculation.

    • Deprecated

      • IsaacLightBeamSensor and the rangeSensorSchema Lidar / Generic types — used only by the deprecated isaacsim.sensors.physx extension. Use IsaacRaycastSensor with isaacsim.sensors.experimental.physics or isaacsim.sensors.experimental.rtx instead.

      • The IsaacLightBeamSensor Python wrapper and the omni.isaac.RangeSensorSchema module now emit DeprecationWarning on construction / import.

    • Fixed

      • GenerateRobotLinkTree grafts links and physics joints from nested sub-robots onto the parent’s kinematic tree, so forward kinematics propagates through the entire assembly (gripper variants attached at a wrist link, etc.). Per sub-robot, prims carrying IsaacRobotLinkAPI / IsaacRobotJointAPI are preferred; bare UsdPhysicsRigidBodyAPI / UsdPhysicsJoint prims are picked up only as a fallback.

      • GenerateRobotLinkTree: rewrote the two UsdPrimRange loops to conventional range-for shape so utils.h is includable from C++ consumers.

      • PopulateRobotSchemaFromArticulation / RecalculateRobotSchema fall back to robot_prim as a synthetic articulation root and sweep Usd.PrimRange to apply JointAPI / LinkAPI when BFS yields no chain, ensuring relationships are populated on vehicle and drone assets.

      • robot_schema imports pxr.Usd during module initialization so pxr.Usd annotations resolve in standalone wheel environments.

      • Added GetRobotLinkParentMap helper to utils.h for resolving isaac:physics:robotJoints body0/body1 relationships into a child-link to parent-link path map.

  • isaacsim.robot.schema.ui

    • Changed

      • Gate USD SELECTION_CHANGED subscription and ObjectsChanged listener on effective visibility; background tabs and hidden windows no longer pay per-click or per-stage-tick handler cost.

      • Resolve the active robot via usdrt.Usd.Stage.GetPrimsWithAppliedAPIName("IsaacRobotAPI") against Fabric, replacing the per-selection USD prim.HasAPI ancestor walk.

      • Pin the active robot scope across selection changes (eliminates the per-click flash); selecting a child robot in nested-robot setups now shows only the child.

      • MaskingOperations.bypass_prim / unbypass_prim return (success: bool, joint_info: tuple[str, str] | None) instead of an overloaded None.

      • SelectionWatch._on_selection_changed early-returns when the resolved tree-view item set is unchanged.

    • Fixed

      • Inspector no longer crashes with AttributeError: '_StageModel__usdrt_stage' when filtering the tree after a view-mode switch.

      • MaskingState.toggle_bypassed / toggle_anchored / toggle_deactivated (and set_*) no longer silently report success and pollute the in-memory sets when MaskingOperations rejected the prim. In-memory state and the USD masking sublayer are now guaranteed to stay in sync.

      • The unbypass path honors (success, _) and restores the prior mask if a pre-emptive unmask was performed and the subsequent bypass was rejected by the backend.

  • isaacsim.robot.surface_gripper

    • Added

      • create_surface_gripper public Python API as a direct replacement for the Kit command.

      • SurfaceGripper OmniGraph node (OgnSurfaceGripper) gains explicit Open and Close execution-input pins alongside the existing Toggle pin. OGN node version bumped from 2 to 3.

    • Changed

      • OgnSurfaceGripper.compute dispatches on the firing execution-state of each pin (db.inputs.<pin> == omni.graph.core.ExecutionAttributeState.ENABLED) rather than on truthiness, with Close taking precedence over Open and Open over Toggle when multiple pins fire in the same tick. Existing graphs that only wire Toggle retain their prior behaviour.

    • Deprecated

      • CreateSurfaceGripper Kit command, in favor of create_surface_gripper().

    • Fixed

      • SurfaceGripperComponent now defaults the joint forward axis to X everywhere (cache initialization, per-joint parse fallback, and _getJointForwardAxis out-of-range fallback) to match the isaac:forwardAxis schema default. Previously the three C++ fallbacks returned Z, producing inconsistent behavior on attachments whose joint was missing the attribute.

  • isaacsim.robot.surface_gripper.ui

    • Changed

      • Replaced omni.kit.commands.execute("CreateSurfaceGripper") call sites with direct create_surface_gripper() API.

  • isaacsim.robot.wheeled_robots

    • Changed

      • Deprecated extension in favor of isaacsim.robot.experimental.wheeled_robots and isaacsim.robot.wheeled_robots.nodes; moved to source/deprecated; OmniGraph nodes removed (now in isaacsim.robot.wheeled_robots.nodes).

    • Fixed

      • Add validation for wheel_radius in DifferentialController.__init__ to reject zero/negative values (division by zero).

      • Documented stanley_control PID parameters (p, i, d) as unused/reserved to match the experimental version.

      • Fixed an incorrect unit label in the DifferentialController docstring (cms → meters).

      • Raise a clear ValueError when WheeledRobot is initialized without wheel DOF names or indices.

      • Reject non-finite normalize_angle() inputs instead of looping indefinitely.

  • isaacsim.robot.wheeled_robots.nodes

    • New extension

  • isaacsim.robot.wheeled_robots.ui

    • Changed

      • Migrated to experimental APIs (app_utils, prim_utils, stage_utils) replacing deprecated isaacsim.core.utils; updated the dependency from isaacsim.robot.wheeled_robots to isaacsim.robot.wheeled_robots.nodes.

      • Converted test file to use SimulationManager, experimental Articulation, and GroundPlane.

  • isaacsim.robot_motion.cumotion

    • Added

      • CumotionWorldInterface accepts a device constructor parameter (any value wp.get_device accepts; defaults to None) and dispatches per-frame collider transform composition to either a vectorized NumPy (CPU) path or a Warp (CUDA) kernel.

      • RmpFlowController gains maximum_substep_size for sub-stepping when more stable integration is required.

      • compute_collider_transforms_cpu utility: vectorized NumPy mirror of the Warp collider-transform kernel.

      • normalize_urdf_for_urdfdom(urdf_text) helper (urdf_normalize.py): rewrites a URDF in-memory so it satisfies urdfdom 4.0.1’s strict parser without modifying any kinematically meaningful values (inserts default effort / velocity on <limit>, adds a wide-open <limit> to revolute / prismatic joints missing one, adds k_velocity="0" to <safety_controller>, drops empty <dynamics/>, removes <mimic> without a target joint). Idempotent on already-clean URDFs.

    • Changed

      • get_world_to_robot_base_transform memoizes its return and yields the same wp.array tuple until the base pose is updated.

      • load_cumotion_robot pre-processes the URDF through normalize_urdf_for_urdfdom and calls cumotion.load_robot_from_memory (instead of load_robot_from_file), so URDFs produced by isaacsim.asset.exporter.urdf.UsdToUrdfConverter and similar generators load correctly. Disk content is never mutated.

    • Fixed

      • TrajectoryOptimizer is now functional on Windows.

  • isaacsim.robot_motion.cumotion.examples

    • Added

      • Best-effort per-class GUI warmup in async setUp (prevents Windows hangs).

      • Unit tests for button presses, slider values, and stateful behavior of all GUI components.

    • Changed

      • Refactored all five example sub-extensions (graph_planner, trajectory_optimizer, rmp_flow, trajectory_generator, world_interface) so each Scenario owns its scene loading, async lifecycle, and prim-wrapper teardown, while UIBuilder is a strict view that only builds widgets and forwards events.

      • Loading helpers are now async; reduced the number of GPU copies needed (some Warp arrays are only needed for reset).

      • TrajectoryOptimizer example functional on Windows; Extension removes no-op physics-step subscriptions.

    • Fixed

      • UIBuilder now tracks and cancels in-flight _load_scene_async tasks on cleanup and reload, preventing expired-prim errors when a new stage is created between tests.

      • LOAD no longer hangs when clicked while a previous load is still in flight; LOAD is not cancelled mid-flight on the graph-planner.

      • Removed timeline.play() / frame-wait / timeline.stop() from _load_scene_async so a failing CUDA init does not block the Kit update thread and prevent next_update_async() from resolving.

      • We no longer force physics or rendering dt; throwing an uncaught RuntimeError was possible because timeline could be playing.

      • wait_until poll interval reduced from 250 ms to 50 ms, cutting idle delay.

  • isaacsim.robot_motion.experimental.motion_generation

    • Changed

      • JointState and SpatialState build their per-row valid views (positions, velocities, position_indices, …) lazily on first property access, reusing zero-copy NumPy slices instead of eagerly allocating wp.arrays in the constructor. Public API and semantics are unchanged.

  • isaacsim.robot_motion.lula

    • Changed

      • Moved to source/deprecated.

  • isaacsim.robot_motion.lula_test_widget

    • Changed

      • Moved to source/deprecated.

  • isaacsim.robot_motion.motion_generation

    • Changed

      • Moved to source/deprecated.

    • Fixed

      • Added missing return None after carb.log_error in LulaCSpaceTrajectoryGenerator.compute_timestamped_c_space_trajectory (invalid interpolation mode), LulaTrajectory.get_joint_targets (out-of-bounds time), ArticulationKinematicsSolver.compute_end_effector_pose, compute_inverse_kinematics, and set_end_effector_frame.

      • ArticulationTrajectory.get_action_at_time raises ValueError immediately after carb.log_error for out-of-bounds time instead of returning a structurally valid but semantically wrong action (6131126).

  • isaacsim.robot_motion.motion_generation.examples

    • Changed

      • Renamed extension and Python package namespace from isaacsim.robot_motion.motion_generation.tutorials to isaacsim.robot_motion.motion_generation.examples; moved to source/deprecated.

      • Example UIs register under a shared Motion Generation Examples menu (RMPflow, Kinematics, RRT, Trajectory Generation).

      • Old load/reset buttons changed out for newer button types.

  • isaacsim.robot_motion.pink

    • New extension

  • isaacsim.robot_motion.pink.examples

    • New extension

  • isaacsim.robot_setup.assembler

    • Changed

      • Variant payloads written by RobotAssembler.begin_assembly / finish_assemble are now stored under payloads/<variant_set>/<variant_name>.usd (relative to the base robot asset) instead of configuration/<variant_set>_<variant_name>.usd. The variant-set name acts as a subdirectory rather than a filename prefix; the destination directory is created automatically.

      • Made assemble_rigid_bodies and create_fixed_joint private (_assemble_rigid_bodies, _create_fixed_joint).

      • RobotAssembler.__del__ no longer calls reset() / cancel_assembly() because finalizers must not touch USD or schedule coroutines (the event loop and omni.usd context may already be torn down). Callers needing in-flight teardown must invoke reset() explicitly.

    • Fixed

      • RobotAssembler.cancel_assembly() no longer raises AttributeError: 'RobotAssembler' object has no attribute '_assembly_identifier' when called on a fresh instance or before begin_assembly(); reset() now initializes the assembly sublayer state.

  • isaacsim.robot_setup.gain_tuner

    • Added

      • Snap to Limits test mode with per-joint pass / blocked / fail results, and Stress Test mode with Random Walk and Adversarial sub-modes.

      • get_test_result_metrics() API.

      • Pluggable RobotTest registry on GainTuner.

      • Toggles to disable self-collisions and velocity limits.

      • GainTuner.add_inertia_updated_callback() and JointListModel.refresh_inertia_derived_columns() so the gains table refreshes Natural Frequency / Damping Ratio after deferred inertia computation.

      • usd_layer_utils helpers to resolve the robot physics layer for save (prim stack, nested sublayers, on-disk payloads/Physics/physics.usda); unit tests for nested physx→physics sublayer composition.

      • Closed-form theory unit tests (no physics solver) with golden literal stiffness/damping references; RK4 discrete damped-oscillator test for _analyze_oscillation (isolates peak analysis from PhysX).

    • Changed

      • Default test mode is now Snap to Limits; per-mode duration controls replace the shared Test Duration field.

      • Menu entry moved to Tools > Robotics > Asset Editors > Gain Tuner.

      • Removed the dedicated extension [[test]] name = "newton" oscillation job and TestGainTunerOscillationDynamicsNewton until Newton-backed dynamics testing is fully integrated.

    • Fixed

      • Natural Frequency and Damping Ratio table columns refresh when accumulated joint inertia becomes available (after deferred compute_joints_accumulated_inertia).

      • Save Gains to Physics Layer targets physics.usda / _physics.usd via joint prim-stack lookup, nested sublayers, and the conventional payloads/Physics/physics.usda path beside the root asset.

      • JointDriveMode.MIMIC is now 3 (was 0, aliased to NONE) so mimic joints are distinct in list(JointDriveMode).

      • Oscillation harness deletes /World/robot before each rebuild (avoids PhysX tensor views on deleted root_joint), uses base_mass=1.0 so effective mass matches table math, and retries GainTuner.setup until the articulation is bindable.

      • project_inertia_onto_axis() logs a carb.log_warn when the joint rotation axis norm is below 1e-9 instead of silently returning 0.0.

      • Bulk edit preserves multi-selection; first column no longer collapses on small window sizes; stale test metrics cleared on new run; menu and CreateUIExtension:Gain Tuner show and focus the panel instead of toggling visibility; visibility callback branches on the visible argument.

  • isaacsim.robot_setup.grasp_editor

    • Changed

      • Migrate extension implementation to the Core Experimental API.

    • Fixed

      • Fixed the silent failure of Skip Simulation → Export Grasp; export state is preserved across internal timeline stops and errors are surfaced in the UI.

      • Spelling corrections; user guide updated to use object_frame / gripper_frame field names matching the actual isaac_grasp schema written by DataWriter.

      • Wrong shape on forces/torques being added into the RigidBody during simulation.

  • isaacsim.robot_setup.wizard

    • Deprecated

      • Extension deprecated and moved to source/deprecated.

  • isaacsim.robot_setup.xrdf_editor

    • Changed

      • Migrate extension implementation to the Core Experimental API.

      • Decomposed the monolithic extension.py into focused modules.

      • Per-DOF arrays now size exactly to the selected articulation’s DOF count instead of using a fixed MAX_DOF_NUM = 100 buffer.

      • UI is split into per-panel modules under ui/ (InfoPanel, SelectionPanel, JointPropertiesPanel, SphereEditorPanel, EditorToolsPanel).

      • editor_state.py provides a UI-free EditorState domain object that owns articulation data and high-level import/export operations.

      • xrdf_io.py and lula_io.py expose pure, UI-free read/write/merge helpers (write_xrdf_file, read_xrdf_file, is_valid_xrdf_file, merge_passthrough_dict, write_lula_robot_description_file, read_lula_robot_description_file).

      • Replaced sphere_generation.compute_link_frame_mesh with isaacsim.core.experimental.utils.xform.get_relative_transform; removed the local gf_quat_to_np_array helper.

    • Fixed

      • Exported XRDF no longer contains mimic joints.

      • UIBuilder.on_stage_closed no longer references the stage and raises a ValueError.

  • isaacsim.ros2.bridge

    • Removed

      • Removed the omni.isaac.ml_archive dependency.

  • isaacsim.ros2.core

    • Added

      • wait_for_publishers_on_topic and wait_for_subscribers_on_topic helpers on ROS2TestCase for waiting on DDS endpoint discovery before asserting on message delivery. Uses a wall-clock timeout to handle platforms with no frame rate limiter; failure messages include the last-observed endpoint count.

    • Changed

      • Added LibraryLoader.h include to Ros2Types.h for SRTX integration support.

      • Camera info now reads OpenCV distortion coefficients from OmniLensDistortion schemas (OmniLensDistortionOpenCvPinholeAPI, OmniLensDistortionOpenCvFisheyeAPI).

      • Migrated camera_info_utils from deprecated isaacsim.sensors.camera to isaacsim.sensors.experimental.rtx.

      • Removed deprecated isaacsim.core.api, isaacsim.core.utils, isaacsim.sensors.camera, isaacsim.sensors.rtx dependencies; added isaacsim.sensors.experimental.rtx and isaacsim.sensors.rtx.nodes.

      • Removed legacy physical-distortion model support (physicalDistortionModel, physicalDistortionCoefficients).

      • Replaced render_product_utils.py with ViewportManager from isaacsim.core.rendering_manager.

      • Updated internal ROS 2 libraries to support the latest simulation-interfaces versions (v1.4.0 Humble, v1.5.0 Jazzy).

    • Fixed

      • Downgraded bundled Fast-RTPS from 2.6.11 to 2.6.10 in the Humble nv_ros2 linux packages to avoid an upstream regression in 2.6.11.

      • read_camera_info() now applies the render-product resolution and scales fx, fy, cx, cy accordingly for opencvPinhole / opencvFisheye lens models, fixing stale CameraInfo after retargeting.

      • Fixed joint state publisher writing no position / velocity data when effort retrieval fails.

      • Fixed handling for fixed-size array types in ROS2DynamicMessage.cpp when the input array length differs from the expected size.

      • Make Ros2TestBase use the sourced distro so tests load the same backend the plugin already initialized.

      • Raise an error if /exts/omni.replicator.srtx/enabled=true on non-Linux platforms.

      • Added an explicit import of _ros2_core bindings module for stubgen discoverability.

  • isaacsim.ros2.examples

    • Changed

      • Migrated to isaacsim.core.experimental.utils, isaacsim.core.rendering_manager, and isaacsim.core.simulation_manager.

      • MoveIt extension and standalone samples feed ROS2PublishJointState from a dedicated IsaacReadJointState node and use its sensorTime for the published timestamp.

      • Replaced PhysicsContext with PhysicsScene from isaacsim.core.simulation_manager.

      • Replaced set_camera_view with ViewportManager.set_camera_view.

  • isaacsim.ros2.nodes

    • Added

      • SRTX publisher support for ROS 2 image, lidar point cloud, and laser scan topics. New C++ classes: ImagePublisher, PointCloudPublisher, PublisherBase, SrtxPublisherFactory. SRTX support added in ROS2CameraHelper, ROS2CameraInfoHelper, and ROS2RtxLidarHelper OGN nodes.

      • OgnROS2RtxRadarHelper node for publishing RTX Radar data as PointCloud2.

      • Optional multitick support: LaserScan and PointCloud2 messages are built from the GenericModelOutput annotator directly, and RTX Lidar sensor inputs are assumed to be full frames.

      • test_sim_clock_physics_step validates ROS 2 clock publishing from an OnPhysicsStep-driven on-demand graph; test_joint_state_subscriber_with_name_override verifies JointNameResolver correctly maps isaac:nameOverride joint names.

      • Camera and camera-info tests using isaacsim.sensors.experimental.rtx; multitick rendering test coverage for RTX sensor nodes.

    • Changed

      • Enabled multitick and removed the non-multitick code paths (including build_rtx_sensor_pointcloud_writer and dynamically-generated writers, replaced by a single PointCloud writer based on isaacsim.sensors.experimental.nodes.IsaacExtractRtxSensorPointCloud).

      • Migrated sensor nodes and tests to isaacsim.sensors.experimental.physics 3.0.0 and isaacsim.sensors.experimental.rtx; raycast sensor creation goes through RaycastSensor.create() (the authoring class) directly.

      • Migrated to isaacsim.core.experimental.utils, isaacsim.core.experimental.objects, isaacsim.core.experimental.prims, isaacsim.core.rendering_manager, and isaacsim.core.simulation_manager.

      • Query the active physics engine at runtime via omni::physics::IPhysics and pass it to createSimulationView so ROS 2 tensor-backed nodes work with any registered engine.

      • OgnROS2CameraHelper: renamed the compressionType input to srtxCompressionType (and marked it hidden).

      • Deprecated the frameSkipCount and fullScan inputs in all helper nodes (OgnROS2CameraHelper, OgnROS2CameraInfoHelper, OgnROS2RtxLidarHelper); deprecation messages direct users to set the input to 0; runtime warning now fires once per node lifetime.

      • OgnROS2PublishLaserScan legacy array path synthesizes binary hit/miss intensities when intensitiesData is unconnected.

      • Refactored OgnROS2PublishPointCloud to use the shared PublisherBase / PointCloudPublisher classes.

    • Removed

      • OgnROS2PublishPointCloud: removed the unused gmoDataPtr / gmoBufferSize / gmoMaxElements inputs and the publishFromGMO code path; point cloud publishing always goes through the per-field pointer inputs populated by IsaacExtractRTXSensorPointCloud.

    • Fixed

      • Behavior change: OgnROS2PublishPointCloud now gates optional metadata fields (intensity, timestamp, emitter/channel/material/tick IDs, hit normal, velocity, object ID, echo ID, tick state, radial velocity) on the matching output* boolean inputs in addition to the pointer being non-zero. Wiring a pointer through IsaacExtractRTXSensorPointCloud no longer forces the field into the message; if you were driving the publisher’s pointer inputs directly without setting the matching output* flag, you will need to set the flag.

      • The SRTX sensor-set name used by OgnROS2CameraHelper and OgnROS2RtxLidarHelper is overridable via /exts/omni.replicator.srtx/sensorSetName; previously both helpers hard-coded "default-sensor-set" and clobbered each other in Mega simulations.

      • OgnROS2PublishJointState no longer creates a tensor simulation view when publishing from connected joint-state inputs (the tensor view is created only for the deprecated targetPrim path).

      • OgnROS2RtxLidarHelper / OgnROS2RtxRadarHelper: showDebugView now sets doTransform=True on the debug-draw writer when outputFrameOfReference is anything other than WORLD (fixes inverted condition); OgnROS2RtxLidarHelper 2D lidar (LaserScan) publishing no longer fails on the unsupported max_points key; drop the legacy Camera + IsaacRtxLidarSensorAPI branch from validation (only OmniLidar + OmniSensorGenericLidarCoreAPI is accepted).

      • OgnROS2RtxLidarHelper uses the new RtxSensorDebugDrawPointCloud writer rather than the deprecated RtxLidarDebugDrawPointCloudBuffer.

      • Null checks for the simulation view in OgnROS2PublishJointState and OgnROS2PublishTransformTree to prevent crashes when the physics backend initialization fails.

      • OgnROS2CameraHelper uses .IsValid() instead of is None to check render-product prim existence; OgnROS2PublishPointCloud uses db.inputs.frameId() instead of its own uninitialized frame ID.

      • OgnROS2PublishLaserScan calls generateBuffers before writeData so output buffers are correctly sized.

      • Numerous DDS-discovery stabilizations and Windows flake fixes in subscriber-queue, transform-tree, laser-scan, and golden-image tests.

  • isaacsim.ros2.sim_control

    • Added

      • GetSpawnables service for discovering available USD assets for spawning (defaults to ROS assets under /Isaac/Samples/ROS2/Robots, excludes .thumbs thumbnails).

      • SpawnEntities batch spawning service.

      • GetEntityBounds service for retrieving axis-aligned bounding boxes of scene entities.

      • Shared _resolve_source_path helper so both GetSpawnables and GetAvailableWorlds resolve Nucleus-relative paths from user-supplied sources.

    • Changed

      • Migrated to isaacsim.core.experimental.utils for stage and prim operations; replaced direct GetPrimAtPath calls with prim_utils.get_prim_at_path; use backend="fabric" for Fabric stage access.

    • Fixed

      • Missing service/action types now skip registration with a warning naming the type, instead of a generic error.

      • GetSimulatorFeatures advertises the subset of constants present in the installed simulation_interfaces instead of returning an empty list when a constant is missing.

      • GetAvailableWorlds: user-provided additional_sources are no longer mangled by Nucleus-relative resolution when offline_only=True on Windows.

  • isaacsim.ros2.tf_viewer

    • Changed

      • Added isaacsim.core.experimental.utils dependency; migrated test utilities to stage_utils from isaacsim.core.experimental.utils.

  • isaacsim.ros2.ui

    • Changed

      • Migrated to isaacsim.core.experimental.utils and isaacsim.core.rendering_manager; TF and Odometry builders use the IsaacComputeTransformTree node.

      • Replaced DomeLight with DistantLight in test scene setup.

    • Fixed

      • Fixed a SIGSEGV in test_odometry_null_conditions and test_tf_null_conditions when empty prim fields are submitted; _check_params in Ros2OdometryGraph and Ros2TfPubGraph now rejects empty required prims before graph creation.

      • Ros2RtxLidarGraph._check_params: drop the legacy Camera + IsaacRtxLidarSensorAPI branch from lidar-prim validation; only OmniLidar + OmniSensorGenericLidarCoreAPI is accepted.

  • isaacsim.ros2.urdf

    • Added

      • “Base Type” dropdown (Source / Fixed / Mobile) driving the tri-state URDFImporterConfig.fix_base field.

      • Robot type dropdown in the UI.

      • Error message when a package cannot be resolved in the URDF.

    • Changed

      • Updated UI status language on failed / successful imports; updated the import path to use isaacsim.gui.components UI utilities; tests preserve temp output on failure for debugging.

    • Deprecated

      • URDFImportFromROS2Node Kit command, in favor of using RobotDefinitionReader and URDFImporter directly.

    • Fixed

      • The intermediate URDF and (when no output folder is set) the USD are now written to a system temp directory.

      • Handled RCLError when the ROS 2 context is shut down during a background service call in RobotDefinitionReader.

  • isaacsim.sensors.camera

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.experimental.rtx (updated deprecation warning and Overview.md were updated to point to ...rtx, not ...camera).

    • Fixed

      • Camera.get_dt returns 0.0 (not -1.0) when the rendering frequency is unknown; Camera.set_dt accepts valid sub-rendering-rate frequencies despite float-modulo precision.

      • Fixed lens-distortion behavior: set_lens_distortion_model("pinhole") only removes lens-distortion schemas instead of all applied schemas; case-sensitive "pinhole" substring check now matches "opencvPinhole" in four projection methods.

      • set_fisheye_polynomial_properties no longer silently skips valid 0.0 values; set_kannala_brandt_properties warning message corrected.

      • Log a warning when Camera.set_frequency() / set_dt() falls back to “process all frames” because /app/runLoops/main/rateLimitFrequency is unset.

      • Raise a clear error when Camera.attach_annotator() is called before Camera.initialize().

      • CameraView docstring fix: instance_segmentation_fast and instance_id_segmentation_fast runtime dtype is uint32 (not int32).

  • isaacsim.sensors.camera.ui

    • Added

      • New depth- and 2D-camera vendors: Luxonis OAK4-D, OAK4-D Wide, OAK-D Pro PoE / Pro W PoE, OAK-D ToF; SICK Inspector83x, InspectorP61x, safeVisionary2, Visionary-T Mini.

      • Dependency on isaacsim.core.experimental.utils and isaacsim.sensors.experimental.rtx for SUPPORTED_CAMERA_CONFIGS / get_camera_metadata / RtxCamera / SingleViewDepthCameraSensor.

    • Changed

      • Menu actions load camera USDs via RtxCamera.create() (experimental) instead of a raw Xform reference. Depth-sensor entries: every Camera in the loaded asset with a template render product carrying OmniSensorDepthSensorSingleViewAPI is wrapped with SingleViewDepthCameraSensor.

      • The sensor list is now sourced from isaacsim.sensors.experimental.rtx.SUPPORTED_CAMERA_CONFIGS (Extension.SENSORS is built at import time via get_camera_metadata), so adding a new camera vendor/model is a one-place change. The legacy Extension.SENSORS shape is preserved for backward compatibility.

      • Default prim_prefix for menu-created sensors is now derived from the USD file stem (hyphens and dots replaced by underscores), so menu-placed prim names change in some cases (for example /RealsenseD455 → /rsd455, /Femto → /orbbec_femtomega_v1_0, /OAK4D → /oak4_d). Prim names that already matched the stem are unchanged.

    • Removed

      • Dependency on the deprecated isaacsim.sensors.camera extension. The SingleViewDepthSensorAsset import is replaced by RtxCamera.create() + SingleViewDepthCameraSensor.

      • Implicit dependency on the deprecated isaacsim.core.utils.stage (get_next_free_path replaced by generate_next_free_path; clear_stage replaced by stage_utils.create_new_stage_async() in tests).

    • Fixed

      • Depth-sensor wrappers returned by _wrap_depth_sensor_cameras are now stored in Extension._depth_sensors instead of being discarded, preventing a create/destroy cycle that corrupted the RTX pipeline and made asset materials invisible.

  • isaacsim.sensors.experimental.physics

    • Added

      • Raycast Sensor C++ implementation, Python bindings, backend, commands, and examples.

    • Changed

      • Aligned the IMUSensor, ContactSensor, and RaycastSensor APIs with isaacsim.sensors.experimental.rtx:

      • Split authoring (IMU / Contact / Raycast) from runtime; runtime constructors take a path or authoring instance; create() lives only on the authoring classes. Replace IMUSensor.create(path, ...) with IMUSensor(IMU.create(path, ...)) (same for Contact and Raycast).

      • Constructors take keyword-only positions / translations / orientations / scales arrays ((N, 3) / (N, 4) wxyz) plus reset_xform_op_properties (default True), instead of singular Gf types. Constructor parameter prim_path renamed to path.

      • Removed *Backend classes (ImuSensorBackend, ContactSensorBackend, RaycastSensorBackend, EffortSensorBackend, JointStateSensorBackend). The runtime sensors own the C++ Carbonite interface directly and expose both get_data() (dict) and get_sensor_reading() (raw struct) — replace XxxSensorBackend(path) with XxxSensor(path). Renamed get_current_frame() → get_data(). Removed the prim_path property, the no-op initialize() method, and ContactSensor.{get,set}_min_threshold / _max_threshold / _radius shims (use sensor.contact.<method> instead).

      • Removed __getattr__ attribute forwarding from the runtime; go through the typed sensor.imu / sensor.contact / sensor.raycast accessor for paths, prims, set_visibilities, get_world_poses, etc.

      • Multi-prim path, conflicting positions / translations, and wrapping an existing prim whose USD type does not match the sensor’s _PRIM_TYPE now raise ValueError. Dropped the unused name parameter.

      • Internal sensor maps keyed by prim path (std::string) instead of a monotonic counter; createSensor() returns bool instead of int64 and removeSensor / getSensorReading / getRawContacts take a prim path.

      • Bumped C++ Carbonite interface versions to 2.0 (IImuSensor, IContactSensor, IEffortSensor, IJointStateSensor).

      • Hardened the C++ runtime against prim deletion and recreation; getSensorReading (and Contact’s getRawContacts) invalidate the cached entry when the underlying USD prim has been removed. The createSensor early-out tears down the cached entry when the parent rigid body / articulation root no longer matches.

      • Migrated ContactSensor and IMUSensor world-transform reads from computeWorldXformNoCache to IXformDataView (IPrimDataReader); port ContactSensor to use the IPrimDataReader contact API (enableContactReporting / getContactReport) instead of direct PhysX contact event subscription.

      • Removed commands_api.md; updated api.rst and Overview.md to document the class-based creation API.

    • Fixed

      • ContactSensor.__init__ parent validation walks up the hierarchy and accepts both CollisionAPI and RigidBodyAPI ancestors; no longer accesses self._prim before assignment when applying threshold/radius overrides.

      • Refresh IMU prim-data-reader initialization on read/step so IMU data is available after physics-only simulation steps.

      • Added update() flush calls in EffortSensorImpl and ImuSensorImpl before reading physics data; null guards for deferred prim-data-reader provider loading in _initializeStage.

  • isaacsim.sensors.experimental.rtx

    • New extension

  • isaacsim.sensors.physics

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.experimental.physics.

    • Fixed

      • Added is_valid to IMUSensor.get_current_frame() output, plus the scalar-first (w, x, y, z) quaternion convention to the IMUSensor.get_current_frame docstring.

      • ContactSensor.__init__ no longer raises UnboundLocalError when no PhysicsScene exists on stage; no longer uses int(1/frequency) (which truncates to 0 for sub-Hz frequencies); validates self._body_prim_path (not prim_path) for the CollisionAPI check.

      • EffortSensor.change_buffer_size no longer creates aliased object references via np.resize on an object-dtype array; EffortSensor.get_sensor_reading() fallback uses the newest valid buffered reading without mutating buffered state; no longer raises ZeroDivisionError when step_size is 0 and timestamps are equal.

  • isaacsim.sensors.physics.examples

    • Added

      • Example for creating solid-state, rotating, and beam-curtain raycast sensors.

    • Changed

      • Beam-curtain raycast example derives the hit-count threshold from each sensor’s configured max_range instead of a hardcoded 100.0.

      • Migrated examples and tests to the isaacsim.sensors.experimental.physics 3.0.0 API: call IMU.create(), Contact.create(), Raycast.create() (the authoring classes) and wrap the returned authoring object with the runtime sensor for data reads.

    • Fixed

      • IMU example no longer raises AttributeError when reading orientation; reads scalar orientation_w/x/y/z fields individually instead of indexing.

  • isaacsim.sensors.physics.nodes

    • Added

      • Isaac Read Raycast Sensor OmniGraph node.

    • Changed

      • Migrated OGN test fixture (AntConfig) and OGN tests to the isaacsim.sensors.experimental.physics 3.0.0 API.

      • Updated OmniGraph nodes to use the prim-path-based sensor API instead of integer sensor IDs.

  • isaacsim.sensors.physics.ui

    • Added

      • Menu items for creating solid-state, rotating, and beam-curtain raycast sensors.

    • Changed

      • Migrated menu callbacks to the isaacsim.sensors.experimental.physics 3.0.0 API.

  • isaacsim.sensors.physx

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.experimental.physics.

    • Fixed

      • Update the rotating PhysX LiDAR during physics-only simulation steps and avoid double simulation on the next stage update.

  • isaacsim.sensors.physx.examples

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.physics.examples.

    • Fixed

      • Run _plot_pattern in a background thread to avoid blocking Kit’s main event loop.

      • Fixed an AttributeError in lidar_info.py when adding a translate op to the lidar prim.

  • isaacsim.sensors.physx.ui

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.physics.ui.

  • isaacsim.sensors.rtx

    • Added

      • Optional multitick support: when enabled, switches to nodes that consume GenericModelOutput assuming it contains a full scan, eliminating lidar accumulation post-processing.

      • WAR for omni.replicator.core 1.13.5: specify RTX Lidar and Radar auxOutputType as the channels attribute on GenericModelOutput RenderVar.

      • IsaacSensorCreateRtxLidar variant parameter accepts dict[str, str] for USDs with multiple variant sets (for example the SICK family Product × Profile), matching Lidar.create() in isaacsim.sensors.experimental.rtx.

    • Changed

      • Multitick now enabled by default; scan accumulation controlled by omni:sensor:Core:accumulateOutputs on the OmniLidar prim.

      • OmniLidar omni:Sensor:Core:accumulateOutputs defaults to True and omni:sensor:Core:skipDroppingInvalidPoints defaults to False when using the command.

      • Moved generic_model_output, sensor_checker and supported lidar configurations to the experimental extension.

      • Formally deprecated outputNormal in favor of outputHitNormal in IsaacCreateRTXLidarScanBuffer.

    • Deprecated

      • Extension deprecated in favor of isaacsim.sensors.experimental.rtx.

    • Removed

      • Removed the CUDA-based post-processing paths for lidar scan accumulation; multitick annotator tests replace non-multitick tests.

    • Fixed

      • Restored the deprecated outputNormal input on IsaacCreateRTXLidarScanBufferNew as an alias for outputHitNormal, emitting a deprecation warning when used (5985827).

      • IsaacCreateRTXLidarScanBuffer / ...New: insufficient auxType on the OmniLidar prim now logs at ERROR with explicit remediation naming the omni:sensor:Core:auxOutputType USD attribute and the level required for each output (5985774).

      • Annotator tests correctly set RTX Radar output level to BASIC instead of FULL.

  • isaacsim.sensors.rtx.nodes

    • New extension

  • isaacsim.sensors.rtx.ui

    • Added

      • RTX Acoustic menu (Create > Sensors > RTX Acoustic) with a generic NVIDIA entry; auto-populates per-vendor entries from SUPPORTED_ACOUSTIC_CONFIGS.

      • RTX Radar menu reorganized into vendor submenus driven by SUPPORTED_RADAR_CONFIGS; Generic RTX Radar moved under NVIDIA; Texas Instruments IWRL6432AOP added.

    • Changed

      • Lidar / Radar / Acoustic menu actions pass a default variant from SUPPORTED_*_CONFIGS so multi-variant-set USDs (for example SICK Product × Profile) materialize a valid prim from a single click.

      • Migrated Lidar creation from the IsaacSensorCreateRtxLidar Kit command to Lidar.create() from isaacsim.sensors.experimental.rtx; Radar creation from IsaacSensorCreateRtxRadar to Radar().

      • Replaced isaacsim.core.utils.stage with isaacsim.core.experimental.utils.stage; replaced isaacsim.sensors.rtx dependency with isaacsim.sensors.experimental.rtx.

  • isaacsim.simulation_app

    • Added

      • MinimalRendering renderer support in SimulationApp via the renderer launch-config option, plus a minimal_shading_mode option that sets /rtx/minimal/mode when using Minimal rendering.

      • Optional multitick support: the loop runner resets simulation time to 0.0 on SimulationApp.__init__.

      • Emit telemetry event for app startup duration via isaacsim.core.telemetry.

    • Changed

      • Added a forked watchdog process in close() that sends SIGKILL on timeout to prevent indefinite hangs from native-thread deadlocks.

      • Atexit handler now calls close(wait_for_replicator=False) to avoid hanging during interpreter shutdown.

      • Unload plugins before os._exit() in the fast_shutdown path to avoid glibc destructor deadlocks.

    • Removed

      • Removed direct telemetry calls from SimulationApp startup.

      • Removed the optional multitick support; when multitick is enabled, time now routes through a Fabric prim via SimulationManager.

      • Removed the shutdown watchdog (no longer needed now that close() avoids the deadlock-prone framework release path).

    • Fixed

      • Replaced shutdown_and_release_framework() with app.shutdown() in close() to avoid a GIL deadlock where the main thread held the GIL while carb.tasking worker threads waited for it during plugin teardown (5948099).

      • Replaced the deprecated isaacsim.core.utils.carb.get_carb_setting import with the direct carb.settings API.

      • SimulationApp.close() flushes Python stdout/stderr before shutdown paths that can terminate the process through fast shutdown.

      • SimulationApp.close(exit_code=...) preserves nonzero script/test failure status when fast shutdown is enabled, removing the need for per-test os._exit hooks.

  • isaacsim.storage.native

    • Added

      • Support overriding the default asset root via the ISAACSIM_ASSET_ROOT environment variable.

    • Fixed

      • path_join uses forward-slash concatenation for all URL schemes (not just omniverse://), fixing backslash-corrupted paths on Windows when the assets root is an https:// URL.

      • path_join ../ traversal uses rsplit instead of os.path.dirname to avoid the same backslash issue; normalizes backslashes in relative path components to forward slashes; treats any URL-scheme path (including file://) as forward-slash on Windows.

  • isaacsim.streaming.rtsp

    • New extension

  • isaacsim.test.collection

    • Changed

      • Adapted rotation test helpers to the new [roll, pitch, yaw] euler-angle input convention.

      • Added a test for environment golden images.

    • Fixed

      • Improved Leatherback ROS 2 test reliability by using ROS2TestCase helpers and waiting for ROS publishers, subscribers, and camera data.

      • Made Leatherback test_cameras resilient to multitick rendering publisher-discovery latency.

  • isaacsim.test.docstring

    • Fixed

      • Catch SystemExit during doctest execution to prevent application shutdown from docstring examples that call sys.exit().

      • Added from __future__ import annotations for PEP 604 union type syntax.

  • isaacsim.test.utils

    • Added

      • New UI-automation modules: button_utils (get_widget_screen_center, deferred_click, deferred_click_widget, discover_template_buttons), layout_utils (ensure_dock_height, ensure_window_visible, close_windows, reset_to_default_layout), stage_utils (poll_until, wait_for_prim, wait_for_stage_prims), usd_utils (compare_usd_files), viewport_utils (project_world_to_screen).

      • Image capture helpers in image_capture: capture_app_screenshot_async (full-application swapchain), capture_viewport_screenshot_async (viewport-only via replicator annotators), and capture_frame_sequence_async (multi-frame sequences in app, viewport, or replicator modes).

      • save_annotator_data in image_io to dispatch and save any annotator output (array, dict, or PNG).

      • menu_utils additions: _poll_async, list_menu_paths, navigate_menu_visual, perform_widget_action.

      • scroll_to_widget helper (and MenuUITestCase.scroll_to_widget) for scrolling widgets off-screen into view.

      • compare_articulation_properties for pairwise comparison of articulation member values.

      • isaacsim.core.experimental.prims and omni.kit.viewport.window dependencies.

    • Changed

      • compare_images_in_directories prints the golden and test directory paths in its header and the full file paths on each failure.

      • compare_usd_files articulation check now detects whether the asset uses NewtonArticulationRootAPI or PhysxArticulationRootAPI and tests attributes accordingly.

    • Fixed

      • menu_click_with_retry waits for the requested menu path to resolve before clicking, absorbing the async menubar rebuild that ran after a prior test’s window destruction (fixes flaky ui.Menu item failed to become show).

  • isaacsim.ucx.core

    • Added

      • Python bindings exposing UCXListener and UCXListenerRegistry via isaacsim.ucx.core.

    • Fixed

      • Clear endpoint close callback during shutdown to prevent dangling pointer if external code holds stale endpoint references.

      • Explicitly request cuda_copy,sm,self,tcp TLS so the CUDA transport is active for GPU buffer rendezvous sends; pre-load libucm_cuda.so.0 with RTLD_GLOBAL before ucxx::createContext() to make CUDA symbols available without requiring ucx/ in LD_LIBRARY_PATH at launch; set UCX_MODULE_DIR via dladdr so the UCS module loader finds libuct_cuda.so.0 and libucm_cuda.so.0.

  • isaacsim.ucx.nodes

    • Added

      • Camera streaming over UCX in OgnUCXPublishImage / OgnUCXCameraHelper, controlled via the sendCudaBuffer bool input. When true, a metadata FlatBuffer is sent first followed by the raw CUDA buffer on the same UCX tag; the receiver pre-allocates a device buffer and posts a tagRecv directly into it, avoiding any CPU copy when the transport supports it (GPU-direct RDMA, NVLink, CUDA IPC, or TCP with host staging). When false, pixel bytes are copied to host memory and embedded in a single FlatBuffer.

      • Reads cudaDeviceIndex from the input into the DLDevice metadata for multi-GPU systems.

      • Metadata + tensor sends are atomic at queue time: if the tensor send fails to queue, the metadata send is cancelled so the receiver does not desync.

      • FlatBuffers schemas and package dependency for UCX bridge message types.

      • get_image_pixel_data_size helper in tests/common.py that returns the expected pixel byte count from the Image FlatBuffer’s Tensor.shape[0].

    • Changed

      • Removed targetPrim input from UCXPublishJointState; node now accepts jointPositions / jointVelocities / jointEfforts arrays from upstream nodes (for example Isaac Read Articulation State).

      • Removed targetPrim input from UCXPublishOdometry; direct data inputs are now the sole data source.

      • Removed the unused renderProductPath input from UCXPublishImage.

      • UCX publish and subscribe nodes use the Isaac OS FlatBuffers wire format.

      • Enabled multitick; deprecated frameSkipCount in UCXCameraHelper (deprecation message directs users to set the input to 0).

    • Fixed

      • Fixed a shutdown crash caused by an async send request outliving the UCX listener, triggering a close callback on a destroyed mutex.

      • OgnUCXCameraHelper: frameSkipCount is once again honored (publishStepSize = frameSkipCount + 1); in 1.5.1, publishStepSize was hard-coded to 1, silently ignoring any user-set value.

      • test_camera.py: receive_image_message now performs the second tag_recv required by the GPU-direct two-message protocol; added matching step and len(image_data) asserts so the CPU-/GPU-direct pixel payload is actually verified.

      • tests/common.py: added cuda_copy to UCX_TLS so the GPU-direct recv has a CUDA memtype module.

  • isaacsim.util.camera_inspector

    • Changed

      • Migrate extension implementation to the Core Experimental API.

    • Removed

      • Remove the check for deprecated lidar schema on USD Camera prims.

  • omni.isaac.ml_archive

    • Changed

      • Update to PyTorch 2.11.0+cu128, torchaudio 2.11.0+cu128, torchvision 0.26.0+cu128, and updated dependencies.

    • Deprecated

      • Extension deprecated.

  • omni.kit.loop-isaac

    • Removed

      • Removed the set_next_simulation_time API and SWHExternalSimulationTime event parameter. Multitick simulation time is now communicated via the /ExternalSimulationTime Fabric prim instead.

  • omni.pip.cloud

    • Changed

      • Downgrade boto3 and botocore to 1.40.61; update cryptography to 46.0.7.

  • omni.usd.schema.newton

    • Changed

      • Updated newton-usd-schemas to 0.2.0.

Isaac Sim ROS Workspaces Changelog Summary#

The Isaac Sim ROS Workspaces companion repository for Isaac Sim ROS Bridge has the following changes for Isaac Sim 6.0.0:

Note

🎉 We’re now open to external contributions! The community can help shape Isaac Sim ROS Workspaces. See the refreshed CONTRIBUTING.md for how to get involved — file issues, propose features, and open pull requests.

Added#

  • Pixi-managed Jazzy workspace: jazzy_ws/pixi.toml, pixi.lock, README_PIXI.md Windows dependency management via Pixi + RoboStack, including PyPI-based isaacsim install support and torch as a Pixi dependency.

  • isaacsim_clearpath_nav2 package (Humble + Jazzy): Nav2 integration for Clearpath robots, with dd100 nav2/robot params, namespaced RViz config, launch file, and a clearpath_common dependency.

  • Simulation interfaces package added to the workspace.

  • RTX radar RViz config (rtx_radar.rviz) added to isaac_tutorials for radial-velocity visualization.

  • Windows long-paths warning for Pixi on Windows.

Changed#

  • Renamed isaacsim → isaacsim_bringup in both Humble and Jazzy workspaces, with updated descriptions, changelog, and Humble parity.

  • Build type migration: isaacsim, cmdvel_to_ackermann, h1_fullbody_controller, and isaac_moveit converted from ament_cmake to ament_python. Scripts moved into Python module layouts (scripts/*.py → <pkg>/<pkg>/*.py), with setup.py/setup.cfg/resource/ markers replacing CMakeLists.txt.

  • use_internal_libs default changed from True to False on Jazzy (Python 3.12 sources ROS 2 from the system; Humble keeps True). Jazzy users relying on internal libs must pass use_internal_libs:=True.

  • run_isaacsim.py dds_type is now opt-in and defaults to empty, preserving the surrounding RMW_IMPLEMENTATION (e.g. rmw_zenoh_cpp from Pixi activation); explicit values map to fastdds/cyclonedds/zenoh.

  • run_isaacsim.py install path falls back to the isaac_sim_package_path env var (set by Pixi activation) when install_path:= is not provided.

  • moveit_resources bumped to widen allowed_start_tolerance.

  • topic_based_ros2_control submodule bumped (includes a Windows crash fix).

  • open_isaacsim_stage.py path resolution uses get_package_share_directory instead of __file__.

  • Optimized the MoveIt sample for Jazzy: added a local panda_isaac.urdf.xacro (omits PandaHandFakeSystem) and extended gripper_to_isaac.py to forward finger positions.

  • Pixi environment setup, clearpath_common, and pip dependency for h1_fullbody_controller.

Removed#

  • CMakeLists.txt files for the four migrated packages (isaacsim, cmdvel_to_ackermann, h1_fullbody_controller, isaac_moveit) in both workspaces, replaced by the ament_python layout.

  • The old topic_based_ros2_control dependency on Jazzy (now integrated into ros2_control for Jazzy onward).

Fixed#

  • Windows launch support for Isaac Sim:

    • run_isaacsim launcher fix for Pixi/Windows.

    • --exec quoting on Windows (cmd.exe does not strip single quotes) so the gui:= USD path opens correctly.

    • Replaced POSIX-only start_new_session=True with creationflags=CREATE_NEW_PROCESS_GROUP for the Isaac Sim subprocess.

    • use_internal_libs/ros_installation_path now exit non-zero with a clear error on Windows instead of silently exiting.

    • Windows robot state publisher command fix.

  • isaac_moveit (Jazzy): malformed JointState warnings on /isaac_joint_commands and the mimic-loop fault that destabilized panda_arm_controller.

  • Launch-file fixes for Windows; scan-topic launch fix for local/global costmaps in navigation samples.

6.0.0 Early Developer Release#

Release Highlights#

General#

  • Updated to Kit 110.0

    • Support for 3D Gaussian Splatting with Fabric Scene Delegate integration, multi-GPU rendering, light interaction with mesh scenes, and MaterialX support.

    • CAD and DGN Converter enhancements with ACIS solid modeling support, BSplineSurface translation, and enhanced tessellation controls.

    • Nested rigid body physics with GPU acceleration, and significant RTX rendering improvements enhance both visual fidelity and simulation accuracy.

    • Expanded XR support, improved Scene Optimizer tools, and Fabric Scene Delegate performance enhancements.

  • Extend the integration/usage of the Core Experimental API into the source code.

  • New extensions based on the Core Experimental API with updated interfaces.

PhysX and Newton#

  • Experimental support for the Newton physics engine

    • Newton/MuJoCo-Warp solver can be used as a physics simulation backend.

    • isaacsim.core.experimental.prims APIs can be used with both PhysX and Newton.

Synthetic Data Generation#

  • Perception Data Generation (Replicator)

    • Getting started example using various optimized randomizations using write to fabric (enableWriteToFabric) and skip syncing with stage (wait_for_render).

    • Useful snippet example using deformable assets with the Core Experimental API to generate synthetic data.

  • Action and Event Data Generation

    • AgentSim (isaacsim.replicator.agent): IRA introduces a character USD schema stored within USD files for cross-scene portability, and a config-driven method to spawn characters and issue character behaviors. IRA features a new UI for configuring agent simulations. IRA and scene captioning (IRC) now work together in a single pipeline, producing both annotated sensor data and VLM captions from one simulation run.

    • Object Simulation and Physics (isaacsim.replicator.object): IRO now supports randomization of physics attributes (mass, friction, restitution) across scene objects for domain-randomized synthetic data generation. New placement strategies (pyramid stacking, world/local-space force application) to enable a variety of physical scenes.

    • Incident Simulation (isaacsim.replicator.incident): Extended toppling events now apply to a broader set of objects. A new FlowUSD fire and smoke writer captures volumetric fire and smoke data from NVIDIA Flow alongside standard SDG outputs (RGB, depth, semantic segmentation).

    • Sensors (isaacsim.sensor.rtx.placement, isaacsim.sensor.rtx.calibration): Maximum coverage based camera placement now supports placement randomization. A new Omniverse-native API for sensor calibration provides direct access to camera intrinsics, extrinsics, and field-of-view coverage visualization.

Robots#

  • Isaac Sim URDF Importer 3.0: Exports to Asset Structure 3.0, multi-engine backend support with MuJoCo to PhysX conversion, Newton schema support, new UI and API, standalone Python interface, and joint tuning moved to gains tuner. New UI for ROS robot state based imports (isaacsim.ros2.urdf).

  • Isaac Sim MJCF Importer 3.0: Asset Structure 3.0, multi-engine backend support with URDF to MuJoCo and PhysX conversion, Newton schema support, new UI and API, standalone Python interface, and joint tuning moved to gains tuner.

  • Asset Structure 3.0: USDC (binary) for geometry; Material, Instances, Base, Physics defined in USDA (ascii) for easier version control and readability. Separated physics, MuJoCo, and PhysX definitions for different tuning values.

  • Asset Transformer: Rule-based USD tool for performing USD operations on assets. Comes with profile to convert robot assets to Asset Structure 3.0. Available rules include: generate robot schema, make schemas non-explicit, prim/schema/attribute routing, variant composition, geometry deduplication, shared materials between geometries.

  • Gains Tuner: Migrated to use core.experimental.prims, enabling Newton backend.

  • Robot Poser: Create robot named poses to change robot pose configuration, and manipulate robot based on a given link position on task space.

  • Robot Self Collision Detector: Visually detecting overlapping colliders in a robot.

  • Robot Inspector: Robot inspector window to enable viewing robot links and prims as flattened or nested. Interactively fix or disable robot joints for debugging.

Sensors#

  • Cameras and Depth Sensors: isaacsim.sensors.camera deprecated in favor of isaacsim.sensors.experimental.camera. Camera sensor now uses _fast annotator variants for improved performance. Fixed tiled sensor data slicing.

  • RTX Non-Visual Sensors: Added explicit RTX Radar support via new Annotator. RTX Sensor models now use Hydra time (omni.timeline) for accurate simulation time tracking. Scan accumulation and post-processing moved to host by default, reducing GPU resource contention. Fixed point cloud “flickering” and broken scans when using RTX Lidar. New and updated standalone examples.

  • Physics Sensors: isaacsim.sensors.physics deprecated in favor of isaacsim.sensors.experimental.physics. Added dedicated GPU codepath for IMU sensor using a separate CUDA stream and pinned memory buffer for improved performance.

ROS#

  • Architecture and Modularization: The monolithic isaacsim.ros2.bridge extension was split into focused extensions: isaacsim.ros2.core (core libraries and message backends), isaacsim.ros2.nodes (OmniGraph nodes), isaacsim.ros2.ui (UI components), and isaacsim.ros2.examples (sample code and demos).

  • ROS 2 Jazzy: System level installations can now be sourced directly with Isaac Sim, enabled by full Python 3.12 support.

  • ROS 2 H.264 compressed RGB image support with hardware-accelerated encoding.

  • RTX Lidar metadata (e.g., intensity) can now be included in ROS 2 PointCloud2 messages.

  • Experimental support for any ROS 2 distribution built with Python 3.12.

  • Added rclpy MultiThreadedExecutor-based async spinning to the ROS 2 test case base class.

Docker#

  • Added Docker Compose deployment for Isaac Sim + WebRTC web-viewer as a single stack.

  • Support for running multiple Isaac Sim instances in parallel on a single machine.

  • Full Docker container support for DGX Spark.

Live-streaming#

  • Added web-based livestreaming via WebRTC client accessible through Docker Compose.

  • Configurable signal port and stream port via environment variables.

  • Full DGX Spark livestreaming support.

Motion Generation#

  • New Experimental Motion Generation API: Includes new tools to easily populate and synchronize a planning scene to the USD stage with independent collision geometry representation. Includes a new controller composition framework that allows simple controllers to be combined to build more complex controllers.

  • New cuMotion Integration: Added full integration with NVIDIA’s cuMotion library, built on the new experimental motion generation API. Includes a centralized collision world state which can be passed to any collision-aware algorithm. Includes bindings to several trajectory and real-time planning algorithms, including minimal-time collision-aware trajectory planning with very flexible end-effector constraints.

SimReady Content#

  • Experimental search functions that extend the content browser with “Assets Search” mode: search SimReady Profiles, Features, natural language search, and tags.

  • A new curated collection of SimReady assets is available in the Content Browser, including robot models from FANUC. These assets have passed both USD validation and runtime tests for improved out-of-the-box reliability.

    • 85 Fanuc Robots

    • 1 Comau

    • 1000 SimReady Props

Kit SDK Version#

Changed: 109.0.2 -> 110.0.0

Kit SDK Dependency Version Changes#

Added#

  • isaacsim.anim.robot.core: 1.2.2

  • isaacsim.anim.robot.schema: 0.1.0

  • omni.behavior.scripting.core: 110.0.4

  • omni.behavior.tree.core: 110.0.4

  • omni.behavior.tree.schema: 110.0.1

  • omni.kit.property.physics: 110.0.7

  • omni.metropolis.pipeline: 0.0.5

  • omni.metropolis.schema: 0.0.1

  • omni.physics.isaacsimready: 110.0.7

  • omni.physics.physx.ui: 110.0.7

  • omni.physics.ui: 110.0.7

  • omni.simready.configuration: 1.0.1

  • omni.simready.content.browser: 0.2.4

  • omni.simready.content.search: 1.0.5

  • omni.simready.paths: 0.1.0

Removed#

  • isaacsim.anim.robot: 1.0.3

  • omni.anim.behavior.asset: 109.0.6

  • omni.anim.behavior.bundle: 109.0.6

  • omni.anim.behavior.ui: 109.0.6

  • omni.behavior.composer: 0.5.4

  • omni.behavior.composer.schema: 0.4.0

  • omni.behavior.composer.ui: 0.5.2

  • omni.graph.io: 1.30.1

  • omni.kit.profiler.window: 2.3.7

  • omni.kit.property.physx: 109.0.10

  • omni.kit.scripting: 109.0.5

  • omni.kvdb: 109.0.10

  • omni.localcache: 109.0.10

  • omni.physx.telemetry: 109.0.10

  • omni.warp: 1.10.1

Changed#

  • isaacsim.replicator.agent.core: 1.0.12 -> 1.2.6

  • isaacsim.replicator.agent.schema: 0.0.1 -> 0.1.0

  • isaacsim.replicator.agent.ui: 1.0.8 -> 1.0.20

  • isaacsim.replicator.caption.core: 0.6.6 -> 0.7.5

  • isaacsim.replicator.incident.core: 0.11.2 -> 0.11.7

  • isaacsim.replicator.incident.ui: 0.6.0 -> 0.6.3

  • isaacsim.replicator.object.core: 0.11.3 -> 0.11.8

  • isaacsim.replicator.object.ui: 0.11.1 -> 0.11.3

  • isaacsim.sensors.rtx.calibration: 0.3.2 -> 0.3.9

  • isaacsim.sensors.rtx.placement: 0.16.4 -> 0.16.9

  • isaacsim.util.debug_draw: 3.2.0 -> 3.2.1

  • omni.ai.langchain.agent.chat_iro: 2.2.5 -> 2.2.8

  • omni.ai.langchain.core: 2.2.0 -> 2.2.5

  • omni.anim.asset: 109.0.6 -> 110.0.0

  • omni.anim.behavior.core: 109.0.7 -> 110.0.8

  • omni.anim.behavior.schema: 109.0.6 -> 110.0.1

  • omni.anim.curve.bundle: 1.3.0 -> 1.4.0

  • omni.anim.curve.core: 1.5.3 -> 1.6.0

  • omni.anim.curve.ui: 1.6.1 -> 1.7.0

  • omni.anim.curve_editor: 109.0.0 -> 110.0.0

  • omni.anim.graph.bundle: 109.0.6 -> 110.0.0

  • omni.anim.graph.core: 109.0.6 -> 110.0.3

  • omni.anim.graph.schema: 109.0.6 -> 110.0.0

  • omni.anim.graph.ui: 109.0.6 -> 110.0.1

  • omni.anim.navigation.bundle: 109.0.6 -> 110.0.0

  • omni.anim.navigation.core: 109.0.6 -> 110.0.3

  • omni.anim.navigation.schema: 109.0.6 -> 110.0.0

  • omni.anim.navigation.ui: 109.0.6 -> 110.0.2

  • omni.anim.retarget.bundle: 109.0.6 -> 110.0.0

  • omni.anim.retarget.core: 109.0.6 -> 110.0.3

  • omni.anim.retarget.preview: 109.0.6 -> 110.0.5

  • omni.anim.retarget.ui: 109.0.6 -> 110.0.1

  • omni.anim.shared.core: 109.0.2 -> 110.0.0

  • omni.anim.skelJoint: 109.0.6 -> 110.0.3

  • omni.anim.timeline: 109.0.1 -> 110.0.0

  • omni.anim.widget.timeline: 0.3.0 -> 0.4.0

  • omni.anim.window.timeline: 109.0.2 -> 110.0.0

  • omni.asset_validator.core: 1.9.2 -> 1.11.2

  • omni.asset_validator.ui: 1.9.2 -> 1.11.2

  • omni.convexdecomposition: 109.0.10 -> 110.0.7

  • omni.cuopt.examples: 1.3.2 -> 1.4.1

  • omni.cuopt.service: 1.3.1 -> 1.3.2

  • omni.cuopt.visualization: 1.3.2 -> 1.4.0

  • omni.curve.creator: 107.0.1 -> 110.0.0

  • omni.curve.manipulator: 108.2.0 -> 110.0.0

  • omni.flowusd: 109.0.2 -> 110.0.0

  • omni.genproc.core: 109.0.0 -> 110.0.0

  • omni.graph.action: 2.0.0 -> 2.10.2

  • omni.graph.action_nodes: 2.0.3 -> 2.10.2

  • omni.graph.action_nodes_core: 2.0.1 -> 2.10.2

  • omni.graph.bundle.action: 3.0.1 -> 3.10.2

  • omni.graph.examples.cpp: 2.0.1 -> 2.10.2

  • omni.graph.nodes: 2.1.6 -> 2.10.2

  • omni.graph.nodes_core: 2.0.3 -> 2.10.2

  • omni.graph.scriptnode: 2.1.2 -> 2.10.2

  • omni.graph.telemetry: 3.1.3 -> 3.10.2

  • omni.graph.ui: 2.1.6 -> 2.10.2

  • omni.graph.ui_nodes: 2.0.4 -> 2.10.5

  • omni.graph.window.action: 2.2.1 -> 2.10.2

  • omni.graph.window.core: 3.1.2 -> 3.10.2

  • omni.graph.window.generic: 2.2.1 -> 2.10.2

  • omni.kit.asset_converter: 5.0.25 -> 5.1.1

  • omni.kit.converter.cad: ~207.0 -> ~209.0

  • omni.kit.converter.common: 508.0.1 -> 510.0.0

  • omni.kit.converter.dgn: 509.3.1 -> 510.0.0

  • omni.kit.converter.dgn_core: 511.3.1 -> 512.0.0

  • omni.kit.converter.hoops: 509.2.4 -> 510.0.0

  • omni.kit.converter.hoops_core: 510.1.3 -> 511.0.0

  • omni.kit.converter.jt: 508.2.6 -> 509.0.0

  • omni.kit.converter.jt_core: 508.2.8 -> 509.0.0

  • omni.kit.environment.core: 1.4.1 -> 1.4.2

  • omni.kit.livestream.app: 9.0.0 -> 10.1.0

  • omni.kit.livestream.core: 9.0.0 -> 10.0.0

  • omni.kit.livestream.webrtc: 9.0.2 -> 10.1.2

  • omni.kit.mesh.raycast: 108.0.0 -> 110.0.0

  • omni.kit.pointclouds: 1.6.6 -> 1.6.7

  • omni.kit.preferences.animation: 1.4.0 -> 1.5.0

  • omni.kit.profiler.tracy: 1.2.0 -> 1.2.1

  • omni.kit.sequencer.core: 108.1.1 -> 110.0.0

  • omni.kit.sequencer.usd: 108.1.1 -> 110.0.0

  • omni.kit.stagerecorder.bundle: 109.0.0 -> 110.0.0

  • omni.kit.stagerecorder.core: 109.0.0 -> 110.0.2

  • omni.kit.stagerecorder.ui: 109.0.0 -> 110.0.0

  • omni.kit.timeline.minibar: 1.2.13 -> 1.2.14

  • omni.kit.tool.measure: 200.0.4 -> 200.0.7

  • omni.kit.variant.editor: 107.5.6 -> 107.5.8

  • omni.kit.variant.presenter: 107.1.2 -> 107.1.3

  • omni.kit.waypoint.core: 1.6.3 -> 1.6.4

  • omni.kit.window.material_graph: 1.9.5 -> 1.9.6

  • omni.kit.window.section: 107.1.3 -> 107.1.4

  • omni.mesh_tools.libs: 109.0.8 -> 110.0.1

  • omni.metropolis.utils: 0.14.7 -> 1.0.5

  • omni.physics: 109.0.10 -> 110.0.7

  • omni.physics.physx: 109.0.10 -> 110.0.7

  • omni.physics.stageupdate: 109.0.10 -> 110.0.7

  • omni.physics.tensors: 109.0.10 -> 110.0.7

  • omni.physx: 109.0.10 -> 110.0.7

  • omni.physx.asset_validator: 109.0.10 -> 110.0.7

  • omni.physx.bundle: 109.0.10 -> 110.0.7

  • omni.physx.camera: 109.0.10 -> 110.0.7

  • omni.physx.cct: 109.0.10 -> 110.0.7

  • omni.physx.commands: 109.0.10 -> 110.0.7

  • omni.physx.cooking: 109.0.10 -> 110.0.7

  • omni.physx.demos: 109.0.10 -> 110.0.7

  • omni.physx.fabric: 109.0.10 -> 110.0.7

  • omni.physx.foundation: 109.0.10 -> 110.0.7

  • omni.physx.graph: 109.0.10 -> 110.0.7

  • omni.physx.pvd: 109.0.10 -> 110.0.7

  • omni.physx.supportui: 109.0.10 -> 110.0.7

  • omni.physx.tensors: 109.0.10 -> 110.0.7

  • omni.physx.tests: 109.0.10 -> 110.0.7

  • omni.physx.tests.visual: 109.0.10 -> 110.0.7

  • omni.physx.ui: 109.0.10 -> 110.0.7

  • omni.physx.vehicle: 109.0.10 -> 110.0.7

  • omni.ramp: 107.0.2 -> 110.0.0

  • omni.replicator.core: 1.12.34 -> 1.13.4

  • omni.replicator.nv: 1.0.0 -> 1.1.0

  • omni.replicator.replicator_yaml: 2.0.11 -> 2.0.12

  • omni.scene.optimizer.analysis: 109.0.2 -> 110.0.4

  • omni.scene.optimizer.bundle: 109.0.2 -> 110.0.4

  • omni.scene.optimizer.core: 109.0.2 -> 110.0.4

  • omni.scene.optimizer.ui: 109.0.2 -> 110.0.4

  • omni.scene.optimizer.validators: 109.0.2 -> 110.0.4

  • omni.scene.visualization.core: 109.0.1 -> 110.0.0

  • omni.services.convert.asset: 509.0.0 -> 510.0.0

  • omni.services.convert.cad: 507.1.5 -> 508.0.0

  • omni.services.pip_archive: 0.18.3 -> 0.18.6

  • omni.usd.metrics.assembler: 109.0.0 -> 110.0.0

  • omni.usd.metrics.assembler.physics: 109.0.10 -> 110.0.7

  • omni.usd.metrics.assembler.ui: 109.0.0 -> 110.0.0

  • omni.usd.schema.flow: 109.0.1 -> 110.0.0

  • omni.usd.schema.metrics.assembler: 109.0.0 -> 110.0.0

  • omni.usd.schema.physx: 109.0.10 -> 110.0.7

  • omni.usd.schema.sequence: 3.1.2 -> 3.2.0

  • omni.usdex.libs: 2.1.2 -> 2.2.1

  • omni.usdphysics: 109.0.10 -> 110.0.7

  • omni.usdphysics.ui: 109.0.10 -> 110.0.7

  • omni.warp.core: 1.10.1 -> 1.12.0

Extensions Changelog Summary#

Please refer to the individual extension changelogs for more detailed information.

  • Common updates across many extensions include refreshed Overview.md, python_api.md, SETTINGS.md, and docstrings.

  • Several extensions were modernized for Events 2.0, deprecated callback/API replacements, and current Warp/core API usage.

  • Shared UI/menu cleanup also landed across multiple extensions, including menu action and content browser integration updates.

  • isaacsim.app.setup

    • Changed

      • Add logging to await_viewport to help debug viewport handle not being available

      • Add missing dependency for Robot Hierarchy window

      • Added dock info for Robot Hierarchy window

      • Refactor enable_ros_extensions to properly wait for viewport to be ready before enabling ROS2 extensions

      • Restructured extension into modular components

    • Fixed

      • Rename “Robot Hierarchy” window to “Robot Inspector” in default and sdg layouts

  • isaacsim.asset.exporter.urdf

    • Changed

      • Add explicit omni.physics.physx dependency

  • isaacsim.asset.gen.omap.ui

    • Added

      • Save YAML button in the visualization window to save the ROS occupancy map parameters file directly, alongside the existing Save Image button

      • Image File Name field in the visualization window to set the image filename used in the YAML; defaults to the stage name

      • Update YAML button to rebuild the YAML content with the new filename without regenerating the image

      • Save Image dialog now pre-fills the filename from the Image File Name field

    • Changed

      • Added dock info for Robot Hierarchy window

  • isaacsim.asset.importer.heightmap

    • Changed

      • Add isaacsim.core.experimental.objects dependency, remove omni.physics.physx dependency for groundplane creation

  • isaacsim.asset.importer.mjcf

    • Changed

      • Added scene import option for the MJCF importer

      • MJCF converter version bump to 0.1.0a8

      • Added mjc / newton to physx attribute conversion for multi-physics engine asset support

      • Changed dep from pip prebundle to isaacsim.pip.newton

      • Switched to lazy import for mjcf-usd-converter to fix docs build issue

      • USD exchange backend

      • New import format

      • New UI design and interface

  • isaacsim.asset.importer.urdf

    • Removed

      • Removed UI elements from the URDF importer, moved to isaacsim.asset.importer.urdf.ui extension

    • Changed

      • update urdf-usd-converter to v0.1.0

      • urdf converter version bump to v0.1.0rc2

      • Added mjc / newton to physx attribute conversion for multi-physics engine asset support

      • USD exchange based backend

      • Unified UI

      • Asset structure 3

    • Fixed

      • Updated configuring of mimic joints to be processed after all joints are created to avoid issues with lexicographical order of siblings

  • isaacsim.asset.validation

    • Changed

      • Updated physics_rules to use new omni.physics.core API (IPhysicsSimulation.initialize/close replaces removed attach_stage/detach_stage)

  • isaacsim.benchmark.services

    • Added

      • Public API properties for frametime recorders: sample_count and samples for direct recorder access

      • Decorator-based plug-in system for recorders using @MeasurementDataRecorderRegistry.register()

      • DEFAULT_RECORDERS constant exported for customization in benchmark scripts

      • Process-specific CPU tracking

      • Main thread CPU tracking via single-core usage metrics (Mean/Min/Max)

      • Support for selecting recorders via recorders list passed into BaseIsaacBenchmark instance

      • Added “Num App Updates” metric to report the number of app update events per phase

    • Removed

      • Legacy collector classes (IsaacUpdateFrametimeCollector)

      • Wrapper layer between collectors and recorders

      • Unused profiling, settings, and execution modules

      • Removed support for passing in gpu_frametime=True into BaseIsaacBenchmark instance

    • Changed

      • Merged BaseIsaacBenchmark and BaseIsaacBenchmarkAsync into unified core with shared logic

      • Refactored data architecture: eliminated collector layer, one recorder per metric

      • Report formatting: metrics ordered by category (Performance, Custom, Memory, CPU table, Frametime table)

      • Recorder lifecycle: stop/collect from recorders that were started in a given phase

    • Fixed

      • Fixed validation tooling to correctly build the render product map

  • isaacsim.code_editor.vscode

    • Fixed

      • Hardened subprocess call to avoid shell=True with string concatenation

  • isaacsim.core.api

    • Removed

      • Remove deprecated PhysX residual reporting APIs (enable_residual_reporting, get_solver_velocity_residual, get_solver_position_residual) from PhysicsContext.

    • Fixed

      • Fix issues with incorrect API usage in ArticulationSubset

  • isaacsim.core.deprecation_manager

    • Changed

      • Remove deprecated asset browser settings

  • isaacsim.core.experimental.objects

    • Added

      • Add USD Camera

      • Add the colors parameter to shape classes to set display colors

  • isaacsim.core.experimental.prims

    • Added

      • getDofNames() and getDofTypes() on IArticulationDataView for articulation DOF metadata (names and types in articulation order)

      • setArticulationDofMetadata() on IPrimDataReader for Newton backend to supply DOF names and types from Python

      • XformPrim now creates FabricHierarchyLocalMatrix and FabricHierarchyWorldMatrix if they don’t exist.

      • Add Newton physics engine support for articulations and rigid bodies

      • Add contact tracking functionality to RigidPrim: set_enabled_contact_tracking(), get_enabled_contact_tracking(), get_net_contact_forces(), get_contact_force_matrix(), get_contact_force_data(), get_friction_data()

    • Removed

      • Remove deprecated PhysX residual reporting APIs (enable_residual_reports, get_solver_residual_reports) from Articulation

    • Changed

      • Add C++ interface to read xform, rigid body and articulation data

      • Slight modification to show how a new physics engine can be added in the future

    • Fixed

      • Fixed Warp 1.12 compatibility for deformable prims (wp.mat33 row-vector constructor replaced with wp.matrix_from_rows)

      • Only return values for DOFs that have applied the PhysxDrivePerformanceEnvelopeAPI when querying drive model properties

  • isaacsim.core.experimental.utils

    • Added

      • Add get_prim_attribute_names() to prim utils for listing authored attribute names

      • Add get_prim_attribute_value() to prim utils for getting attribute values

      • Add quaternion_to_euler_angles() function to transform utils for converting quaternions to euler angles

      • Add parse_device() function to ops utils for parsing Warp device specifications

      • Add ensure_api() function to prim utils for ensuring API schemas are applied to prims

    • Fixed

      • Fix NaN issue in euler to quaternion conversion utils

      • Fix inconsistency in euler to quaternion conversion utils

  • isaacsim.core.includes

    • Added

      • Add Defines.h header with ISAACSIM_EXPORT and ISAACSIM_IMPORT macros for DLL visibility

    • Changed

      • Optimize GenericBuffer to re-use memory without allocation if requested size fits within existing capacity.

  • isaacsim.core.nodes

    • Added

      • IsaacAttachHydraTexture node allows user to add HydraTextures and RenderVars on demand to RenderProduct prims already in the stage

    • Changed

      • Migrate Odometry and joint name resolved nodes to use core experimental prims APIs

  • isaacsim.core.prims

    • Removed

      • Remove deprecated PhysX residual reporting APIs (enable_residual_reports, get_position_residuals, get_velocity_residuals) from Articulation and SingleArticulation.

    • Fixed

      • Fixed missing argument context in _reset_fabric_selection method.

      • Fixed incorrect method call set_wind to set_winds in ParticleSystem constructor.

      • Fixed incorrect attribute name solverPositionIteration to solverPositionIterationCount in ParticleSystem.get_solver_position_iteration_counts.

  • isaacsim.core.rendering_manager

    • Changed

      • Move import of kit loop runner to a try-except block to handle import exceptions if omni.kit.loop-isaac is not enabled

  • isaacsim.core.simulation_manager

    • Added

      • Add Newton physics engine support with switch_physics_engine() method

      • Add NewtonMjcScene and NewtonXpbdScene classes for Newton solver-specific scene configuration

      • Add PhysicsScene base class for common physics scene operations

      • When /rtx/hydra/supportMultiTickRate is enabled, simulation time is propagated to the run loop

      • Add cleanupInvalidPhysicsScenes() method to C++ ISimulationManager interface to remove tracked physics scenes with invalid prims

      • Add isValid() method to C++ PhysicsScene class to check if the underlying prim is still valid

      • Add Python binding for cleanup_invalid_physics_scenes() method

      • Add supporting APIs for changing physics engines through the omniphysics interfaces

      • Add PhysicsScene and PhysxScene Python class wrappers for high-level physics scene manipulation

      • Add PhysicsScene C++ class and header for USD Physics Scene prim operations

      • Add get_physics_scene_paths() function to get all physics scene paths in a stage

    • Changed

      • Replaced omni.physx start_simulation with omni.physics start_simulation

      • Replaced omni.physx simulation event stream with omni.physics simulation event stream

      • Change log level of no adjacent samples found for interpolation warning to INFO

    • Fixed

      • Rebuild with new physics package

      • Fix RuntimeError: Accessed invalid expired ‘PhysicsScene’ prim error when physics scene prims become invalid without triggering USD notices (e.g., layer removal operations, session sublayer changes)

      • Add stage and root layer validation in _on_play() to prevent physics initialization on expired/invalid stages

      • Add error handling in _create_physics_scene() to gracefully handle physics scene creation failures

  • isaacsim.core.utils

    • Changed

      • Fix quaternion order issue in torch transformation utils

  • isaacsim.examples.base

    • Changed

      • Replaced timeline API with app utils for simulation control

      • Add functionality to allow setting rendering_dt.

  • isaacsim.examples.extension

    • Changed

      • Add ticked=True to Extension Generator menu item

  • isaacsim.examples.interactive

    • Changed

      • Experimental API alignment: app_utils for timeline control, SimulationEvent for physics callbacks.

      • Replaced timeline API with app utils for simulation control.

      • Converted Robo Party to Experimental APIs.

      • The Getting Started, Replay Follow Target, Robo Factory, and Surface Gripper examples now depend on the new Warp-based APIs

      • Simplified bin filling example to improve stability, replaced dropped parts with dropped cubes

  • isaacsim.gui.components

    • Added

      • Add menu.create_submenu to recursively build MenuItemDescription lists from dicts describing submenus

    • Changed

      • Remove unused dependencies

      • Add menu.open_content_browser_to_path to open the Content Browser to a specific path

    • Fixed

      • Hardened subprocess calls to avoid shell=True with string concatenation

      • Fixed incorrect type annotation for SearchWidget

  • isaacsim.gui.content_browser

    • Added

      • New omni.simready.content.browser extension for Simready asset search

    • Changed

      • Update omni.simready.content.browser settings

      • Add SimReady folder

      • Update assets path to 6.0 staging

      • Update assets path to development

  • isaacsim.gui.menu

    • Added

      • Robot Self-Collision Detector to Tools > Asset Editors menu

    • Removed

      • Removed Warp Sample Scenes menu item from Help menu (omni.warp dependency removed)

    • Changed

      • Add ticked=True to Asset Check menu item

      • Remove Asset Browser from menu and context menu

      • Use menu.open_content_browser_to_path to open the Content Browser to a specific path as a replacement

      • Add Utility menu item to check Isaac Sim assets root path

      • Fix broken Isaac Sim documentation links

  • isaacsim.gui.property

    • Added

      • Introduced widget for applying IsaacSiteAPI to Xformable prims

      • Introduced new widget for setting the IsaacMotionPlanningAPI collisionEnabled attribute

    • Fixed

      • Fixed incorrect type annotation (List to list)

  • isaacsim.replicator.behavior

    • Changed

      • Migrated behavior scripting dependency from omni.kit.scripting to omni.behavior.scripting.core

      • Updated SDG physics based volume filling behavior script to use the omni.physx api

  • isaacsim.replicator.examples

    • Changed

      • Synched snippets with docs, typos and print statements fixes

      • Augmentation examples use basic empty stage (dome light + ground plane) by default, with optional env_url for custom stages

  • isaacsim.replicator.mobility_gen

    • Added

      • Support loading usdz asset

  • isaacsim.replicator.mobility_gen.examples

    • Changed

      • Change occupancy map radius for Carter Robot

  • isaacsim.replicator.mobility_gen.ui

    • Added

      • Support loading usdz asset

  • isaacsim.replicator.synthetic_recorder

    • Changed

      • Updated UI to use width and height for checkboxes to fix click issues

  • isaacsim.replicator.writers

    • Changed

      • Added pinholeOpenCV and fisheyePolynomial projection support to pose writer

      • Moved DOPE utils to DOPEWriter class

  • isaacsim.robot.manipulators.examples

    • Added

      • UR (Universal Robots) stacking example

      • A simplified stacking class based on core_experimental (NVIDIA Warp APIs)

    • Changed

      • Experimental API alignment: app_utils for timeline control and SimulationEvent for physics callbacks in follow-target and pick-place examples.

      • Supported multiple Franka robots for pick and place task

      • Updated the folder structure of the extension

      • Simplify bin filling example and improve stability, example cubes instead of various parts

  • isaacsim.robot.schema

    • Added

      • KinematicChain class for building and caching joint chains between arbitrary start/end prims on a robot

      • Forward Kinematics computation (compute_fk) with per-joint intermediate transforms

      • Fused FK + spatial Jacobian computation (compute_fk_and_jacobian) in a single pass

      • IKSolver abstract interface and IKSolverRegistry for pluggable IK solver implementations

      • Levenberg-Marquardt IK solver (IKSolverLM) registered as the default solver, with adaptive damping, null-space bias toward joint centers, step clamping, and joint-limit clipping

      • pose_error function computing 6-DOF orientation + position error between two transforms

      • Math module (math.py): Transform (SE(3) composition and inversion), Joint (screw-axis exponential map for revolute and prismatic joints), quaternion operations (quat_mul, quat_conj, quat_rotate, axis_angle_to_quat, quat_to_matrix), skew, and adjoint

      • Teleport functionality on KinematicChain: teleport propagates FK through the kinematic tree and writes USD body transforms; teleport_anchored applies joints while keeping a specified link fixed via rigid correction

      • Zero-configuration pose computation (_compute_zero_config_poses) using static joint local frames

      • Joint chain path finding via LCA algorithm (_collect_chain_joints) returning ordered joints with forward/backward traversal direction

      • Named pose query utilities: GetAllNamedPoses, GetNamedPoseStartLink, GetNamedPoseEndLink, GetNamedPoseJoints, GetNamedPoseJointValues, GetNamedPoseJointFixed, GetNamedPoseValid

      • CreateNamedPose for creating IsaacNamedPose prims with relationships and attributes

      • Loop detection in articulation traversal (_discover_articulation_prims, PopulateRobotSchemaFromArticulation, RecalculateRobotSchema) using visited-set guards to prevent infinite loops in cyclic joint graphs

      • DetectAndApplySites and AddSitesToRobotLinks for automatic site detection on link child Xforms and registration in the robot schema

      • ApplySiteAPI function; ApplyReferencePointAPI deprecated and redirected to ApplySiteAPI

      • ValidateRobotSchemaRelationships returning valid/invalid link and joint lists

      • RecalculateRobotSchema that preserves existing relationship order while appending newly discovered items and removing invalid ones

      • RebuildRelationshipAsPrepend and EnsurePrependListForRobotRelationships for proper USD layering of robot relationships

      • Schema diagram generation script

      • Loop detector on parsing of joints

      • Missing SiteAPI functions

      • Verify if all found links and joints are added to the schema

      • Detect and Create SiteAPIs when applying robot schema

      • Update Robot Schema relationships with missing links and joints

    • Changed

      • UpdateDeprecatedSchemas migrates ReferencePointAPI to SiteAPI and deprecated DOF offset attributes to DofOffsetOpOrder token array

      • UpdateDeprecatedJointDofOrder collects deprecated per-axis attributes, builds token array, and removes old attributes

      • Updated deprecated schema checker and fixer

  • isaacsim.robot.wheeled_robots

    • Changed

      • Update to new osqp version and fix OSQP.setup() positional argument issue

  • isaacsim.robot_motion.lula

    • Changed

      • Updated Overview.md with note about newer cumotion extension.

  • isaacsim.robot_motion.motion_generation

    • Changed

      • Updated Overview.md with note about newer experimental motion generation API.

      • Updated path_planner_visualizer.py docstring to clarify it only does interpolation.

  • isaacsim.robot_motion.motion_generation.tutorials

    • Changed

      • Update license headers

  • isaacsim.robot_setup.gain_tuner

    • Changed

      • Migrate mass property queries from PhysX property query interface to Articulation tensor API (isaacsim.core.experimental.prims.Articulation).

      • Remove omni.physics.physx dependency; mass, COM, and inertia are now queried via get_link_masses(), get_link_coms(), and get_link_inertias().

    • Fixed

      • Fixed incorrect type annotations

      • Fix Vec3f/Vec3d type mismatch in inertia accumulation caused by robot schema double-precision change

  • isaacsim.robot_setup.xrdf_editor

    • Added

      • Can load and export XRDF version 2.0

    • Fixed

      • Removed incorrect type annotation for SimulationContext

  • isaacsim.ros2.core

    • Added

      • CompressedImage message backend

      • Added ros2 image buffer utils

    • Changed

      • Removed hardcoded ROS 2 distribution checks. Added experimental support for any ROS 2 distribution beyond Jazzy to be sourced and used with Isaac Sim.

      • Fixed ROS 2 service request polling so takeRequest() can receive a pending request on its first poll call.

      • Removed isaacsim.sensors.experimental.physics dependency

      • Set publish_with_queue_thread extension setting to true

      • Added a simulate_until_condition method

    • Fixed

      • Hardened subprocess call to avoid shell=True with string concatenation

  • isaacsim.ros2.examples

    • Changed

      • Update waypoint follower action graph to use ReadPrimLocalTransform node

  • isaacsim.ros2.nodes

    • Added

      • ROS 2 H.264 Compressed Image support with H.264 RGB handling

      • omni.replicator.nv extension automatically enabled by omni.replicator.core and implictily used for HW H.264 encoding

    • Removed

      • Moved test_menu_graphs to isaacsim.ros2.ui

      • Replaced fields_to_dtype with sensors_msgs_py.point_cloud2.read_points where applicable

    • Changed

      • ROS2PublishJointState node now publishes from sensor inputs (e.g. IsaacReadJointState) for joint state data

      • Shifted RTX sensor scan accumulation and post-processing back to host by default to reduce GPU resource contention and improve frametime & frametime consistency. Post-processing-on-device still available as option by setting app.sensors.nv.[modality].outputBufferOnGPU=true.

      • Converted OgnROS2QoSProfile node from Python to C++ for improved performance and consistency with other C++ OG nodes

      • Add missing dependency for isaacsim.sensors.physics.nodes

      • Update isaacsim.sensors.physics dependency to isaacsim.sensors.experimental.physics

      • Update waypoint follower action graph to use ReadPrimLocalTransform node

    • Fixed

      • Fix eFloat and eUnknown cases in writeNodeAttributeFromMessage incorrectly hardcoding “outputs:” prefix instead of using inputOutput(isOutput) and prependStr

  • isaacsim.ros2.ui

    • Added

      • Added PointCloud2 metadata options to RTX Lidar OG tool

      • Added test_menu_graphs

    • Changed

      • Migrated test_menu_graphs imports to use experimental prims and stage utilities (XformPrim, define_prim, add_reference_to_stage)

      • Fixed articulation root path in test_joint_states_data_flow and test_odometry_data_flow to use chassis_link

      • Fixed SimpleCheckBox widget path for “Publish Robot’s TF?” in test_odometry_data_flow

      • Remove Asset Browser from menu

      • Use menu.open_content_browser_to_path to open the Content Browser to a specific path as a replacement

  • isaacsim.ros2.urdf

    • Changed

      • Updated isaacssim.ros2.urdf to use URDF importer 3.x

      • Make isaacsim.asset.importer.urdf.ui a dependency since this extension heavily depends on and modifies the default urdf importer ui

  • isaacsim.sensors.camera

    • Changed

      • omni:rtx:post:depthSensor:outlierRemovalEnabled is now a bool

      • Camera sensor: switched to use “_fast” version of the annotators where available (“bounding_box_2d_tight_fast”, “bounding_box_2d_loose_fast”, “instance_segmentation_fast”, “instance_id_segmentation_fast”)

    • Fixed

      • TestSingleViewDepthSensor.test_getter_setter_methods uses correct initial value for confidenceThreshold.

      • Cleanup annotators and state properly when the camera is destroyed

      • Fixed camera_view.get_data() resolution order issue (height, width) -> (width, height)

  • isaacsim.sensors.camera.ui

    • Fixed

      • Registered proper actions for all camera and depth sensor creation menu items

  • isaacsim.sensors.experimental.physics

    • Added

      • Add joint state sensor that reads all DOF positions, velocities, and efforts per articulation

    • Changed

      • Rewrite sensor implementations to use C++ core experimental prims APIs

      • IMU and Contact sensor creation commands renamed to include Experimental in their name to avoid name collision with deprecated sensor commands

      • Rebuilt physics sensors on core experimental APIs with Python-first implementations

      • Added Python backends for contact and IMU sensors plus legacy interface shims for compatibility

      • Added new command-based prim creation for sensors and OmniGraph nodes

      • Removed sensor period and frequency parameters, all sensors use the physics frequency by default

  • isaacsim.sensors.physics

    • Changed

      • Deprecated this extension in favor of isaacsim.sensors.experimental.physics extension

      • Moved omnigraph nodes from this extension to isaacsim.sensors.nodes extension. The nodes use the new api from isaacsim.sensors.experimental.physics extension.

    • Fixed

      • Fix crash issue when IPhysxSimulation interface is not available

  • isaacsim.sensors.physics.examples

    • Added

      • Updated to use interfaces from isaacsim.sensors.experimental.physics extension

      • Updated contact and IMU examples to use the new sensor command APIs and legacy Python interfaces

      • Improved example UI lifecycle handling with typed callbacks, stage-close cleanup, and richer docstrings

    • Changed

      • IMU and Contact sensor creation commands renamed to include Experimental in their name to avoid name collision with deprecated sensor commands

  • isaacsim.sensors.physics.ui

    • Added

      • Updated to use interfaces from isaacsim.sensors.experimental.physics extension

      • Updated menu actions to use new sensor creation commands and experimental prim helpers

      • Improved context menu handling and visibility control for created sensor prims

    • Changed

      • IMU and Contact sensor creation commands renamed to include Experimental in their name to avoid name collision with deprecated sensor commands

    • Fixed

      • Registered proper actions for Contact Sensor and IMU Sensor creation menu items

  • isaacsim.sensors.physx.ui

    • Fixed

      • Registered proper actions for PhysX Lidar and LightBeam sensor creation menu items

  • isaacsim.sensors.rtx

    • Added

      • Use Hydra time (omni.timeline) in RTX Sensor models

    • Removed

      • Tools for manipulating deprecated JSONs

    • Changed

      • Shifted RTX sensor scan accumulation and post-processing back to host by default to reduce GPU resource contention and improve frametime & frametime consistency. Post-processing-on-device still available as option by setting app.sensors.nv.[modality].outputBufferOnGPU=true.

      • IsaacSensorCreateRtxSensor commands accept usd_path argument to enable adding arbitrary RTX Sensor USDs to the stage

      • IsaacSensorCreateRtxRadar command validates if user has enabled Motion BVH before creating prim

    • Fixed

      • Fixed occasional segfault when running with many lidars doing full-scan processing at the same time by copying GenericModelOutput buffers into local copies rather than manipulating AOV

      • IsaacCreateRTXLidarScanBuffer.transform output no longer resets frame-to-frame

      • Only reset outputs in IsaacCreateRTXLidarScanBuffer if enablePerFrameOutput == True, preventing output “flickering”

      • Prevent USD path warnings when using IsaacSensorCreateRtxSensor commands

  • isaacsim.sensors.rtx.ui

    • Fixed

      • Registered proper actions for all RTX Lidar and RTX Radar sensor creation menu items

  • isaacsim.simulation_app

    • Added

      • Added separate default render settings for PathTracing and RealTimePathTracing modes

    • Changed

      • Automatically close the application during interpreter shutdown if close() was not called

      • Close stage in simulation app close() method to avoid errors

      • Update error message when application fails to start and exit before proceeding to make debugging easier.

      • Fix issue where simulation app close() method would hang if the app was already stopped

      • Skip explicit stage close in simulation app close() method to avoid crashes

      • is_running method does not require an active USD stage

      • Use close_stage_async method when closing stage to avoid blocking the main thread if available

      • Simulation app close() method now waits for replicator workflows to complete even when using replicator step()

  • isaacsim.storage.native

    • Changed

      • Update assets path to 6.0 staging

      • Add retry attempts and retry base delay settings for asset root connectivity checks

      • Update assets path to development

  • isaacsim.test.collection

    • Changed

      • Exclude NumPy module reload errors

      • Update dependencies to use new experimental extensions

  • isaacsim.test.utils

    • Added

      • Move find_widget_with_retry from MenuUITestCase to menu_utils as a standalone function

      • Add find_enabled_widget_with_retry to poll for a widget that is both found and enabled

      • Add wait_for_widget_enabled to poll until an already-found widget becomes enabled

      • Add new utility functions (get_all_menu_paths, count_menu_items) and MenuUITestCase base class for menu UI tests.

    • Changed

      • Add omni.kit.material.library.get_mdl_list_async and omni.kit.menu.utils.rebuild_menus to MenuUITestCase.wait_for_stage_loading to fix menu rebuild issues

      • Add find_widget_with_retry to MenuUITestCase to find a widget with retry

      • Replace omni.kit.ui_test.menu_click with custom step-by-step menu navigation that polls for each submenu to become findable and visible before proceeding, avoiding the carb.log_error and AttributeError that menu_click produces when submenus are slow to appear

      • Add carb.log_info diagnostics throughout menu_click_with_retry for log debugging

      • Suppress transient error logs from omni.kit.ui_test.query during intermediate retries in menu_click_with_retry; errors are only surfaced on the final retry attempt

      • Add pycoverage patch for numpy _CopyMode.__bool__ to prevent ValueError when scipy imports trigger _CopyMode.IF_NEEDED evaluation under coverage

      • Fix pycoverage compatibility issue with numpy sum and prod functions

      • Add a pycoverage compatible amin and amax implementation that is monkeypatched into numpy on extension startup. Removed from image_comparison.py as it is no longer needed.

      • This is only used if –/exts/omni.kit.test/pyCoverageEnabled=1 is set

      • Refactor menu_click_with_retry into a separate function

      • Add new_stage to MenuUITestCase

    • Fixed

      • Add omni.kit.material.library as a dependency

  • omni.isaac.core_archive

    • Changed

      • Update to llvmlite==0.46.0, nest_asyncio==1.6.0, matplotlib==3.10.8, contourpy==1.3.3, fonttools==4.61.1, pyparsing==3.3.2, cycler==0.12.1, kiwisolver==1.4.9, packaging==26.0, osqp==1.0.5, pyperclip==1.8.0, pyperclip==1.11.0

  • omni.isaac.ml_archive

    • Changed

      • Update to pytorch 2.10.0+cu128, torchaudio 2.10.0+cu128, torchvision 0.25.0+cu128 and update dependencies

  • omni.kit.loop-isaac

    • Added

      • Added set_next_simulation_time function and Python binding to support multi-tick rendering mode

      • When /rtx/hydra/supportMultiTickRate is enabled, SWHExternalSimulationTime is passed to the run loop

  • omni.pip.cloud

    • Changed

      • Update cryptography to 46.0.5

      • Update azure-core to 1.38.0

      • Update msal to 1.35.1

      • Downgrage boto3 to 1.40.61

      • Downgrage botocore to 1.40.61

      • Downgrage s3transfer to 0.14.0

      • Update aioboto3 to 15.5.0

  • omni.pip.compute

    • Added

      • Added “pynvvideocodec==2.1.0”

    • Changed

      • Update imageio==2.37.2, scipy==1.17.0, pyyaml==6.0.3, opencv-python-headless==4.13.0.90, trimesh==4.11.1, rtree==1.4.1

Isaac Sim ROS Workspaces Changelog Summary#

The Isaac Sim ROS Workspaces companion repository for Isaac Sim ROS Bridge has the following changes for Isaac Sim 6.0.0:

Added#

  • isaac_compressed_image_decoder package for decoding ROS 2 compressed images [Humble, Jazzy]

  • ros2_object_id_subscriber tutorial example in isaac_tutorials [Humble, Jazzy]

  • topic_based_ros2_control ROS 2 package added as a submodule [Jazzy]

  • Multi-humanoid namespace support in h1_fullbody_controller launch [Humble, Jazzy]

  • Ubuntu 24.04 / ROS 2 Jazzy Python 3.12 Docker build support and dockerfile [Jazzy]

  • rmw_zenoh support for Jazzy 22.04 Docker build [Jazzy]

  • --no-cache (-n) flag for build_ros.sh to allow cache-free Docker rebuilds [Humble, Jazzy]

Changed#

  • Bumped all package versions to Isaac Sim 6.0.0

  • Improved Humble MoveIt integration with custom panda_isaac.urdf.xacro and gripper_to_isaac.py bridge [Humble]

  • Updated MoveIt configs to mitigate timeout issues [Jazzy]

  • Cleaned up occupancy map parameters in Navigation packages [Humble, Jazzy]

  • Updated internal libraries path to isaacsim.ros2.core in isaacsim ROS package [Humble, Jazzy]

  • Switched h1_fullbody_controller topics to relative names for namespaced multi-humanoid setups [Humble, Jazzy]

Removed#

  • Legacy references to older Ubuntu / Python / ROS mentions from launch files, parameters, and build scripts