2022.1.1
Kit SDK 103.1
Replicator APIs used for Composer
RTX Lidar sample ROS/ROS2 PCL publishing
Isaac Gym Performance improvements
Tutorials
Added
Configuring RMPflow for a New Manipulator
Motion Generation: RRT
Rigging Robots
Domain Randomization for RL
Instanceable Assets
Adding a New Manipulator
ROS1: Publishing Custom Messages in Extension Scripting
ROS1/2: Joint Control: Extension Python Scripting
ROS1/2: Sending Goals Programmatically for Multiple Robots
ROS1/2: Camera tutorials
Assets
Added Robots
Balance Bot
Crazyflie CX2
Denso Cobotta Pro 900
Denso Cobotta Pro 1300
Ingenuity
Quadcopter
Extensions
omni.isaac.cloner
Changed
Added setting and deleting the different xform properties used by omni.isaac.core
Optimized cloning and collision filtering logic
Moved common utility functions to base Cloner class
Fixed
Preserve scale property from source prim
omni.isaac.ros2_bridge
Added
ROS2Context node has a useDomainIDEnvVar flag that can be set to true so that the ROS_DOMAIN_ID variable is used
omni.syntheticdata template to publish RTX Lidar point cloud
ROS2 IMU publisher node
Removed
Unused carb settings
Fixed
Activating image publishers should not cause a crash anymore
File watcher patterns for extension
Quaternion input descriptions
Changed
Removed articulation control from OgnROS2SubscribeJointState
Added JointState message outputs to OgnROS2SubscribeJointState allowing users to connect outputs to articulation controller core_node
OgnROS2PublishSemanticLabels to accept string data type
Timestamp data now appended to JSON msg output
Improved image publisher perf
omni.isaac.core
Fixed
fixes set_max_efforts function: device must be on cpu
Reshape jacobian shape to match with shape of jacobian tensor.
Articulation Controller bugfix: get_applied_action was indexing joint_positions even if simulation is not running.
Articulation bugfix: get_max_efforts was always returning the max_efforts from PhysX instead of the joint-indices result when clone=True.
Articulation bugfix: get_linear_velocity, get_angular_velocity and get_joint_velocities was calling view’s method twice once with indices then once without. The second time should be selecting the single element of the batch array from the result rather than calling the method again.
Articulation bugfix: get_joint_positions was calling view’s method twice once with indices then once without. The second time should be selecting the single element of the batch array from the result rather than calling the method again.
Fixed GPU buffer attribute mismatch in physics context config parsing.
Added
get_semantics to return all semantic APIs applied onto a prim
Added joint_indices to the different get_joint_* methods in the Articulation.
Increase hang detection timeout (OM-55578)
Added setting gravity from sim config in physics context.
Added reset_xform_properties parameter to view classes for efficiency when the objects already have the right set of xform properties.
Added new APIs for ArticulationView and RigidPrimView
added get_first_matching_parent_prim, is_prim_non_root_articulation_link to prim utils
Parse GPU device ID from carb settings /physics/cudaDevice.
Changed
single prim classes inheritance structure to avoid duplication of code
get_all_matching_child_prims to return a list of prims instead of a list of prim_paths
get_first_matching_child_prim returns a prim instead of a prim path
statistics.py moved to omni.isaac.statistics_logging extension
Size to be a float for Cuboid instead of 3 dimensional (scale to be used instead for consistency with USD)
save_stage allows in place saving without reloading stage.
omni.isaac.app.setup
Added
Force PhysX reset on stop to be true
Increase hang detection timeout (OM-55578)
omni.isaac.examples
Added
Path Planning Example with resiazable and movable walls
Added keep_window_open parameter to BaseSampleExtension to keep a sample’s window visible after hot-reloading.
omni.isaac.synthetic_utils
Removed
removed isaac replicator style DOPE Writer
removed isaac replicator style YCB Video writer
YCB Video writer using OV Replicator style added to omni.replicator.isaac
Changed
Raise exception in DOPE writer when s3 bucket name is invalid
Added
Change output folder structure for DOPE writer
Write to s3 bucket for DOPE Writer
DOPE Writer
Occlusion sensor in SyntheticDataHelper
initialize_async
Fixed
get_groundtruth works in an async function
omni.isaac.ml_archive
Changed
Use pip_torch extension instead of packaging torch directly.
make extension kit sdk version specific
Updating version for publishing
omni.isaac.partition
New Extension
omni.isaac.conveyor
Changed
Convert node to cpp backend
Conveyor node renamed to IsaacConveyor
Added
Simplified creating multiple conveyors, multiple prims can be selected on creation using menu
omni.isaac.tests
New Extension
omni.replicator.isaac
New Extension
omni.isaac.franka
Removed
Deleted GripperController class and used the new ParallelGripper class instead.
Changed
Changed gripper_dof_indices argument in PickPlaceController to gripper
Changed gripper_dof_indices argument in StackingController to gripper
Added
Added deltas argument in Franka class for the gripper action deltas when openning or closing.
Fixed
Bug with adding a custom usd for manipulator
omni.isaac.urdf
Added
Cobotta 900 urdf data files
Add instanceable option to importer
Fixed
Missing argument in example docstring
omni.isaac.gym
Fixed
Fix warnings generated on stage close
Added
Check for setting to disable viewport extension
Pass physics device ID to simulation app for GPU physics
Added support for headless gym app
omni.isaac.range_sensor
Fixed
Semantic APIs that ended with a random id are supported now, only the first semantic API applied is used.
Active semantic IDs only updated if Lidar was moved/changed, IDs are now cleared each frame to fix this
omni.isaac.benchmark_environments
Added
Added Cage environment
omni.isaac.physics_inspector
Fixed
Previously hardcoded unit strings
omni.isaac.robot_benchmark
Changed
Modified workflow for adding robots and controllers to robot_benchmark extension to be mostly code-based
Modified standalone script to run every permutation of (environment,robot,controller) that are passed in as arguments
Modigified robot_benchmark.py to teleport robots to a constant starting position that can be configuring in ./benchmark_config
Added
Added RRT planner
Added RRT+RMP hybrid planner
Added example for adding example robot and controller
omni.isaac.dofbot
Removed
Deleted GripperController class and used the new ParallelGripper class instead.
Changed
Changed gripper_dof_indices argument in PickPlaceController to gripper.
Added
Added deltas argument in Franka class for the gripper action deltas when openning or closing.
Fixed
Bug with adding a custom usd for manipulator
omni.isaac.manipulators
New Extension
omni.isaac.synthetic_recorder
Fixed
Error message when there was no instance data to write
omni.isaac.ros_bridge
Removed
Unused carb settings
Fixed
Activating image publishers should not cause a crash anymore
File watcher patterns for extension
Quaternion input descriptions
Added
omni.syntheticdata template to publish RTX Lidar point cloud
ROS IMU publisher node
Changed
Removed articulation control from OgnROS1SubscribeJointState
Added JointState message outputs to OgnROS1SubscribeJointState allowing users to connect outputs to articulation controller core_node
OgnROS1PublishSemanticLabels to accept string data type
Timestamp data now appended to JSON msg output
Improved image publisher perf
omni.isaac.onshape
Changed
Using Local onshape_client package
Improvements on import process.
Fixed
Increased concurrent pool size to avoid issues on large assemblies.
Fixed download tracker to only vanish once process is complete
Handling of errors so import can continue without failures.
omni.isaac.cortex
Fixed
Switch to new gripper API
Bugfix: behavior modules don’t load if the file doesn’t exist on startup.
omni.isaac.shapenet
Removed
web access to models
http server for receiving external commands
omni.isaac.motion_generation
Changed
Updated RMPflow parameters in config YAML files for Denso robots: Turned on velocity_cap_rmp
Changed gripper_controller argument to gripper in the PickPlaceController.
moved PickPlaceController and StackingController to omni.isaac.manipulators
Changed docstrings for PathPlannerVisualizer and Lula RRT implementation
Updated ArticulationSubset to wait until robot joint states are queried to access the Articulation object. This avoids annoying errors when attempting to initialize an ArticulationMotionPolicy before the “play” button has been pressed.
Updated MotionPolicy to not assume a default orientation. It now passes None to the MotionPolicy.
Added
Added Cobotta Pro 900 and Cobotta Pro 1300 as supported robots with provided RMPflow config files and test cases.
Added set_param() function to Lula RRT implementation.
Added PathPlanningInterface with Lula RRT implementation and simple class for aiding visualization
Fixed
ArticulationSubset.get_joint_subset_indices() fixed (was returning function rather than return value of function call.)
Fixed unreliable test case for lula RRT by reducing the RRT step size
Fixed bug in RmpFlow.set_cspace_target() which changed the end effector target when it shouldn’t have
Fixed bug in RmpFlow.get_internal_robot_joint_states() which resulted in a TypeError
omni.isaac.statistics_logging
Added
statistics.py from omni.isaac.core
read_log_file
summarize_statistics_log
Changed
Track and log memory usage and scene triangles, assets, & dimensions
omni.isaac.dynamic_control
Added
cMassLocalPose to DcRigidBodyProperties
Changed
Removed simple_articulation.usd, test_articulation_simple uses Nucleus asset
omni.isaac.isaac_sensor
Changed
Removed simple_articulation.usd, test_imu_sensor uses Nucleus asset
Added an exec out on the ReadContact and ReadIMU nodes
IsaacSensorCreateContactSensor, renamed offset to translation to be consistent with core
IsaacSensorCreateImuSensor, renamed offset to translation to be consistent with core
Use XformPrim to initialize sensors for consistency with core
Make return values for commands consistent, they now return: command_status, (success, prim)
Renamed BindingsContactSensorPython to BindingsIsaacSensorPython
Contact sensor resets on stop/start
Fixed
Removed extra print statement
Imu mRawBuffer resets upon stop/start
Added
ReadRTXLidarPointCloud Node
Read contact sensor omnigraph node and tests
Orientation reading to Imu sensor sample
Absolute orientation output to Imu sensor + tests
Read Imu node
omni.isaac.core_archive
Added
boto3, s3transfer
Changed
Make extension kit sdk version specific
Updating version for publishing
omni.isaac.mjcf
Added
Add armature to joints
Add instanceable option to importer
Fixed
Display Bookmarks when selecting files
omni.isaac.wheeled_robots
Fixed
Issue with holonomic controller returning an error on reset
Changed
pulled out the internal state classes for both holonomic and differential controller
Added
unit tests for nodes and controllers
doc strings for python files and comments for omnigraph nodes.
omni.isaac.proximity_sensor
New Extension
omni.isaac.universal_robots
Removed
Deleted GripperController class and used the new ParallelGripper class instead.
Changed
Changed gripper_dof_indices argument in PickPlaceController to gripper.
Changed gripper_dof_indices argument in StackingController to gripper.
Fixed
Bug with adding a custom usd for manipulator
omni.isaac.core_nodes
Added
utility function to cache node activations till the next frame. This solves an issue where activating node templates from other nodes would cause a race condition
Additional unit test for Articulation Controller node for cases where no joint names or indices were given
Unit test for Articulation Controller node
Added node to read file contents from path
Added node to read OS environment variables
Fixed
IsaacSetViewportResolution node forces window aperture to reset if the resolution is changed.
In OgnIsaacArticulationController, added validity check for joint_indicies list to prevent unnecessary warning message
In OgnIsaacArticulationController, added validity check for joint_indicies list to prevent unnecessary warning message
Quaternion input descriptions
Extension will still load if replicator templates fail to register. This prevents dependent extensions from also failing to load due to a replicator.core failure
Changed
IsaacComputeOdometry takes either an articulation root or a valid rigid body prim for the chassisPrim input
omni.isaac.kit
Added
Increase hang detection timeout (OM-55578)
added physics device parameter for setting CUDA device for GPU physics simulation
Deprecated
deprecated memory report in favor of using statistics logging utility
2022.1.0
Kit SDK 103.1
Windows Support
Omniverse Replicator
Omniverse Gym and Physics Tensor API
Isaac Cortex
Scene Blox Scene Generation Tool
omniverse xr/vr support on Windows
Documentation
Tutorials
Restructured Introductory tutorials
Added OmniGraph tutorials
Additional ROS & ROS2 tutorials
Motion Generation
Lula Kinematics
Isaac Cortex
Isaac Gym
Updated tutorials to use Omniverse Replicator
Scene Blox Scene Generation
Assets
All assets are now in meters
Added Robots
Allegro Handle
Ant
ANYbotics ANYmal
Cartpole
Humanoid
Fraunhofer O3dyn
Shadow Hand
Unitree A1
Unitree Go1
Added Environments
Modular Warehouse
Extensions
Removed
omni.isaac.robot_engine_bridge
omni.isaac.gamepad
omni.isaac.app.selector
Changed
Use omni.isaac.version.get_version()
Rename Headless Kit Remote app to Headless Native app
Rename App Launcher to App Selector
omni.isaac.app.setup
Changed
Use carb.tokens to get kit exe path (OM-48462)
Fixed
Fixed hot reloading
Added
Use omni.isaac.version.get_version()
Added Isaac Sim App Selector to the Help Menu.
Added Isaac Sim full version tag in log file.
Removed
Moved Nucleus Check to its own extension (OM-43459)
omni.isaac.articulation_inspector
Removed
Joint Animation UI
Moved Gain Tuning UI to separate extension
Added
New Selection UI and bug fixes
omni.isaac.assets_check
New Extension
omni.isaac.asset_browser
New Extension
omni.isaac.benchmark_environments
Changed
Updated all hard coded USD object values to meters
updated object instantiation to use Core API
omni.isaac.cloner
New Extension
omni.isaac.conveyor
New Extension
omni.isaac.core
Fixed
handles_initialized in Articulation class
Setting pd gains in the gpu pipeline.
Object classes to use RigidViews if initialized
Bug is set_local_poses in RigidPrimView and ArticulationView
Object classes to wrap existing prims without changing its properties
Setting gains to persist across resets
GPU warmup
Reset in World was always resetting the physics sim view
issue with getting next stage free path slash parsing
missing args for convert() method
Fixed create_prim method to support sequence data type
Fixed prim interfaces to use sequence data type for setters and getters for pose and velocities
Added method convert() to backend utils to convert into respective object container
Fixed issue with specifying a USD path for a view regex
Fixed assets version file check.
acceleration spelling mistake in articulation_controller
cleaned up imports and comments in the utils
fixing visibility on XFormPrimView
docstring issues
Deleting a reference always when trying to delete a prim under the ref
Physics start on construction of XFormPrim to be able to use dc interface to query if its under an articulation.
XFormPrimView: fixed setting translation on init
converting gains from dc to usd units when saving to usd
Fix setting of local pose in XFormPrim constructor
Use a SDF Change block when deleting prims
Do not delete /Render/Vars prim when clearing stage
GeometryPrim was not setting the collision approximation type correctly
disable_gravity() for Articulation was enabling gravity
Changed
move and rename persistent.isaac.asset_root.cloud from assets_check extension
Replaced .check on physics views with an event callback for efficiency.
Adds checking for prim/prms in remove-object
Renamed copyAssetsURL to cloudAssetsURL.
Passing physics materials instead of physics material path along with its properties.
Use omni.isaac.version.get_version()
Removing redundant api in ArticulationView and RigidPrimView
Raise Exceptions when using set_linear_velocities and set_angular_velocities with the gpu pipleine
RigidPrim class using RigidPrimView, GeometryPrim uses GeometryPrimView and Articulation uses ArticulationView class
Added the option to enable flatcache in physics_context
Disabled updateToUsd in physics_context when flatcache is enabled to allow faster load time
Reorganized the functions in World and SimulationContext to make them clearer to understand
Update DOF path parsing in ArticulationView to use tensor API directly
Use tensor APIs when available for DOF properties
replaced find_nucleus_server() with get_assets_root_path()
Adapts the hierarchy of classes in object prims: The inheritance is as follows:
Visual<Obj>(GeometryPrim): collision is disabled
Fixed<Obj>(Visual<Obj>): collision is enabled
Dynamic<Obj>(Fixed<Obj>, RigidPrim): collision is enabled and rigid body API applied (which enables the influence of external forces)
world.py: add step_sim param to step() paralleling the render flag
XFormPrim class to use XFormPrimView class internally
Changed default value of visibility in the XFormPrim class
replaced find_nucleus_server() with get_assets_root_path()
_list and _recursive_walk in omni.isaac.core.utils.nucleus to list_folder and recursive_list_folder
isaac.nucleus.default is now a persistent carb setting
get_intrinsics_matrix uses vertical_aperture set on camera prim
set_camera_view can take a user specified camera path
kinematics.py to omni.isaac.motion_generation extension
physx and usd tranformations update parameters are read from carb
Added feature to detect and update downloaded Isaac Sim assets on Nucleus (OM-41819)
Added
Added APIs to get/set Enable Scene Query Support attribute
Physics Handles check to avoid calling tensor api when the view is not valid.
Added persistent.isaac.asset_root.default
Added get_full_asset_path()
initialize_physics function in World and SimulationContext
Added persistent.isaac.asset_root.nvidia and persistent.isaac.asset_root.isaac setting
Added get_nvidia_asset_root_path() and get_isaac_asset_root_path()
Added get_url_root() and verify_asset_root_path()
Disable GPU usage warnings from tensor APIs in Core APIs
articulation: added an accessor for getting the default state. (previously you could only set it)
Added reset(), reset_async(), clear() methods to SimulationContext
API to enable/disable omni.physx.flatcache extension in PhysicsContext
API to track whether GPU pipeline is enabled
density in rigid prim view
Added checks for setters/getters of Geometry prim in the case collision is disabled
An argument to clear scene registery only
rotation and cross product util functions
added rotation conversion functions to and from quaternions
Added implementations of set_gains, set_max_efforts, set_effort_modes, switch_control_modes and the their getters in ArticulationView.
Forced physics to start on init of ArticulationView to initialize the num_dofs and other variables.
Added unit tests for ArticulationView.
Added initial docstrings for the added functions.
added pose_from_tf_matrix() to omni.isaac.core.utils.transformations
First version of Tensor API integration
added get_assets_server()
set gains in usd option is added to the articulation controller
get/set_rigid_body_enabled to omni.isaac.core.utils.physics
default predicate to omni.isaac.core.utils.prims.get_all_matching_child_prims
test_prims to omni.isaac.core.tests
is_prim_hidden_in_stage
dof_names property to Articulation
enable/disable rigid_body_physics for RigidPrims
enable_gravity() for Articulation
remove_all_semantics util function
add set_intrinsics_matrix function
Added set_defaults to SimulationContext, World and PhysicsContext
Removed
Removed persistent.isaac.nucleus.default setting
Removed find_nucleus_server() and find_nucleus_server_async()
Sim start in XFormPrim view and ArticulationView doesn’t create a dummy physics view anymore
omni.isaac.core_archive
Added
osqp, qdldl
Split Isaac Pip Archive into Core and ML archives
omni.isaac.core_nodes
New Extension
omni.isaac.cortex
New Extension
omni.isaac.debug_draw
Added
Added flag to disable depth check
omni.isaac.demos
Changed
Updated reference to RmpFlow config files:
omni.isaac.motion_generation/policy_configs -> omni.isaac.motion_generation/motion_policy_configs
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.diff_usd
New Extension
omni.isaac.dofbot
Changed
Changed InverseKinematicsSolver class to KinematicsSolver class, using the new LulaKinematicsSolver class in motion_generation
Updated RmpFlowController class init alongside modifying motion_generation extension
Updated RmpFlowController class alongside changes to motion_generation extension
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.dynamic_control
Changed
non-backwards compatible change: dof indexing matches physx tensor API
Fixed
Handle physx unwrapped revolute joints
Properly delete handles on prim deletion
Error message when waking up a kinematic rigid body
Error message when setting linear velocity on a body with simulation disabled
Error message when setting angular velocity on a body with simulation disabled
omni.isaac.examples
Removed
ROS examples
Changed
stage setting changed from cm to m.
robofactory and roboparty uses hard coded position in meters (instead of cm)
Jetbot keyboard example replaced by omnigraph_keyboard, using scripting omnigraph to resizing a cube instead of moving a robot
Changed init functions for Franka, UR10, and DofBot controller classes alongside changes to motion_generation
Replaced kaya holonomic controller with the generic controller
Replaced find_nucleus_server() with get_assets_root_path()
Jetbot Keyboard example and Kaya Gamepad example are now powered by Omnigraph
Updated references to MotionGeneration
Added
Cleaned up BaseSample UI
Added Toggle Buttons to FollowTarget Example
omni.isaac.franka
Changed
Changed InverseKinematicsSolver class to KinematicsSolver class, using the new LulaKinematicsSolver class in motion_generation
Updated RmpFlowController class init alongside modifying motion_generation extension
Fix Franka units in gripper open config.
Updated RmpFlowController class alongside changes to motion_generation extension
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.gym
New Extension
omni.isaac.isaac_sensor
General
fix property orientation loading bug
Moved sensor data aquisition function from tick to onPhysicsStep
Fixed component visualization
Fixed visualization error of the isaac sensors
Changed draw function to run onUpdate instead of physics call back
Added Imu sensor to isaac sensor
Changed extension name to omni.isaac.isaac_sensor
Changed Imu sensor getSensorReadings to output the readings from the last frame
Updated index.rst documentation for contact sensor and imu sensors
Converted contact sensor namespaces to isaac sensor namespaces
Add UI element to create contact sensor
Modified draw function to use USD util’s global pose
Converted contact sensors into usdSchemas
Enable visualization of contact sensors in the stage
Bugfix for failing tests and missing updates
Compatibility for sdk 103
omni.isaac.kit
Changed
a .kit experience file can now reference other .kit files from the apps folder
Make startup/close logs timestamped
Simulation App starts in cm instead of m to be consistent with the rest of isaac sim.
Fixed
Comment in simulation_app.py
Dlss is now loaded properly on startup
Added
Multi gpu flag to config
Windows support
memory_report to launch config. The delta memory usage is printed when the app closes.
automatically add allow-root if running as root user
omni.isaac.lula
Changed
Removed wheel from extension, provide installed wheel as part of extension instead. This removes the need for runtime installation.
Updated Lula from release 0.7.0 to 0.7.1. This fixes a bug in Lula’s kinematics that had the potential to cause a segfault for certain robots.
omni.isaac.mjcf
New Extension
omni.isaac.ml_archive
New Extension
omni.isaac.motion_generation
Added
Added conversion to numpy if articulation backend is GPU/torch
Added getter to get the MotionPolicy from a MotionPolicyController.
Added some accessors to ArticulationMotionPolicy and ArticulationSubset.
Added Kinematics interface with a Lula implementation
Added ArticulationKinematicsSolver wrapper for interfacing kinematics with USD robot
Created ArticulationSubset class to handle index mapping between Articulation and MotionPolicy
Added RmpFlowSmoothed to lula/motion_policies.py to support cortex.
Separated RmpFlow visualization functions for end effector and collision spheres
Added test case for visualization
Added Sdf.ChangeBlock() to visualization functions for efficiency
test case for motion_generation extension: test for proper behavior when add/enable/disable/remove objects to RmpFlow
interface_config_loader: a set of helper functions for checking what config files exist directly in the motion_generation extension and loading the configs as keyword arguments to the appropriate class e.g. RmpFlow(loaded_config_dict)
Updated internal RMPflow implementation to allow for visualizing Lula collision spheres as prims on the stage
moved kinematics.py from omni.isaac.core.utils to this extension
Changed
Updated all hard coded USD object values to meters in motion_generation tests
Replaced InverseKinematicsSolver(BaseController) object with ArticulationKinematicsSolver
Renamed MotionGenerator to ArticulationMotionPolicy
Extracted methods from MotionPolicy to form a WorldInterface class. This has no functional effect on any code outside MotionGeneration
Obstacles are now marked as static explicitly when added to MotionPolicy
Fixed typo in interface_config_loader.py.
modified default RmpFlow configs have fewer updates per frame (10 was unnecessary) and to not ignore robot state updates by default
updated golden values in tests as a direct result of config change
Restructured MotionGeneration extension to place emphasis on MotionPolicy over MotionGeneration. The user is now expected to interact directly with a MotionPolicy for adding/editing obstacles, and setting targets. MotionGeneration is a light utility class for interfacing the simulated USD robot to the MotionPolicy (get USD robot state and appropriately map the joint indeces).
RmpFlowController -> MotionPolicyController:
The RmpFlowController wrapper that was used to interface Core examples with RmpFlow has been expanded to wrap any MotionPolicy
omni.isaac.motion_generation/policy_configs -> omni.isaac.motion_generation/motion_policy_configs: changed folder containing config files for MotionPolicies to be named “motion_policy_configs” to leave room for future interfaces to have config directories
Path to RmpFlow: omni.isaac.motion_generation.LulaMotionPolicies.RmpFlow -> omni.isaac.motion_generation.lula.motion_policies.RmpFlow
Updated MotionGeneration to use Core API to query prim position and control the robot
Fixed
Fixed bug in RmpFlow.create_ground_plane() related to unit conversion
ground plane handling: enable/disable/remove ground_plane didn’t work
static obstacle handling: dictionary key error when enable/disable/remove static obstacles
Undefined joint in dofbot USD referenced by RMPflow config
omni.isaac.motion_planning
Added
Added Windows support.
Fixed
Fix physx sequential write issue.
omni.isaac.occupancy_map
Fixed
block world default to meters
scale_to_meters parameter
Deadlock when generating data
Changed
Replaced find_nucleus_server() with get_assets_root_path()
Api’s always return 3d point data
Added
Add ability to generate 3d occupancy data
omni.isaac.onshape
General
Improvements on import process.
General improvements.
Add joint values API
Use current stage meters per unit scaling when importing stage.
Bugfix for cross-failure when omnigraph USD notice listener captured changes on the stage done within not the main thread.
stability improvements
Fix bug where cylindrical mates with same name get overriden.
Change naming convention for duplicate names
bugfix for non-ascii parts name that were failing to create usd due to empty filename.
Update dependencies list for standalone import.
omni.isaac.physics_inspector
Fixed
Switched to using USD RigidBodyAPI filter instead of dynamics control’s type filter, in case the body is both an articulation root/link as well as a rigid body.
omni.isaac.quadruped
New Extension
omni.isaac.range_sensor
Fixed
Lidar semantics not getting visualized properly
Lidar sensor to prevent first frame from being outputted
Changed
Output data type from float to pointf in Isaac Read Lidar Point Cloud OG Node
Improved perf for Isaac Read Lidar Beams OG Node
Use orient op for commands that create sensors
Lidar sensor is now fully multithreaded per sensor and per ray
Improved use of tasking framework and simplified scan logic
added fabric support to lidar
Added
Isaac Read Lidar Point Cloud OG Node
Isaac Read Lidar Beams OG Node
Sequence number to track frame count
AzimuthRange and ZenithRange in Lidar sensor to track beginning and end angles of a scan
omni.isaac.repl
New Extension
omni.isaac.robot_benchmark
Changed
Updated all hard coded USD object values to meters
Removed redundant robot initialization that caused warnings in test case
Updated test golden values with change to motion_generation extension
Added verbosity to test failures
Updated extension alongside motion_generation to use MotionPolicy directly
Replaced find_nucleus_server() with get_assets_root_path()
Updated extension alongside motion_generation to use Core API
omni.isaac.robot_engine_bridge
Changed
capnp is now provided as a module instead of a wheel
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.robot_engine_bridge_gxf
Changed
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.ros2_bridge
Fixed
Removed Teleport sample from “Isaac Examples” Menu
Crash when switching extension on/off and simulating
Corrected stereoOffset input in OgnROS2CameraHelper
OG ROS2 pub/sub clock nodes now able to namespace topic names
Issue with lidar init on first frame
Issue with camera init on first frame
Crash when changing a camera parameter when stopped
laserScan publisher in RosLidar to be able to synchronize with Lidar sensor after any live user changes to USD properties
pointCloud publisher using seperate caching variables from laserScan to prevent accidental overwriting
TF Tree publisher parent frame to include filter for articulation objects, separately from rigid body.
Added
ROS2 examples in “Isaac Examples” Menu
ROS2 Image publisher node
ROS2 Camera Info publisher node
OG ROS2 Odometry publisher node
OG ROS2 Twist subscriber node
OG ROS2 Transform Tree publisher node
OG ROS2 Raw Transform Tree publisher node
OG ROS2 Joint State Publisher node
OG ROS2 Joint State Subscriber node
OG ROS2 LaserScan publisher node
OG ROS2 PointCloud2 publisher node for lidar
Utility method, addTopicPrefix for namespacing ROS2 topics
ROS2 Context
ROS2 pub/sub clock
Added ROS2 topic name validation
odometryEnabled setting to toggle both Odometry and TF publishers in differential base components
Changed
Fully switched to OG ROS2 bridge nodes
Added 32SC1 image type option to OgnROS2PublishImage
Output data types to vectord and quatd in ROS2 Odometry, Raw TF publisher nodes and Twist subscriber node
Added dropdown menu and validation for encoding input in ROS2 image publisher node
Output data type from float to pointf in ROS2 point cloud publisher node
ROS2 point cloud publisher node to read generic point cloud buffer
ROS2 laser scan publisher node to read generic lidar data buffers
Replaced find_nucleus_server() with get_assets_root_path()
Removed Cyclone DDS to allow defualt FastRTPS DDS to run instead
ROS2 Bridge to initialize rclcpp in onResume and shutdown rclcpp in onStop
Switch depth to new eDistanceToPlane sensor
omni.isaac.ros_bridge
Fixed
Updated OgnROS1ServiceTeleport to check for invalid prim to avoid crash
Corrected stereoOffset input in OgnROS1CameraHelper
ROS image publisher node name
ROS Raw TF publisher node description and warning message
Normalized robotFront vector when calculating odometry
Cross-product used to find robot’s y-component of linear velocity in OG ROS Odometry publisher node
Issue with lidar init on first frame
Issue with camera init on first frame
Crash when changing a camera parameter when stopped
laserScan publisher to be able to synchronize with Lidar sensor after any live user changes to USD properties
pointCloud publisher using seperate caching variables from laserScan to prevent accidental overwriting
TF Tree publisher parent frame to include filter for articulation objects, separately from rigid body.
Added
ROS examples in “Isaac Examples” Menu
ROS Camera Info publisher node
ROS image publisher node
OG ROS teleport service
OG Isaac Read Odometry node
OG ROS Raw Transform Tree publisher node
OG ROS Odometry publisher with odom->chassis frame TF publish node
OG ROS Twist subscriber node
OG ROS Transform Tree publisher node
Utility method, addFramePrefix for namespacing frameIds
OG ROS Joint State Publisher node
OG ROS Joint State Subscriber node
OG ROS PointCloud2 publisher node for lidar
OG ROS laserscan publisher node
odometryEnabled setting to toggle both Odometry and TF publishers in differential base components
Changed
Fully switched to OG ROS bridge nodes
Add bbox2d,3d,instance, segmentation, camera_info to camera helper
renamed sensor to type for camera helper
added 32int output to image publisher
Added camera helper node
Added 2d bbox, 3d bbox, semantics nodes
Output data types to vectord and quatd in ROS Odometry, Raw TF publisher nodes and Twist subscriber node
Added dropdown menu and validation for encoding input in ROS image publisher node
Output data type from float to pointf in ROS point cloud publisher node
Added frameId input to ROS Image publisher node
Included row length calculation for image buffer in ROS Image publisher node
ROS point cloud publisher node to read generic point cloud buffer
ROS laserscan publisher node to accept data from Isaac Read Lidar Beams core node
Removed bundle input and added odometry related vector inputs to OG ROS Odometry publisher node
Updated UI Names for ROS OG nodes
Updated nodeNamespace descriptions for all ROS OG nodes
ROS OG nodes to use nodeNamespace as input
Default topic name for OG clock nodes
Add OG nodes for clock topic
Replaced find_nucleus_server() with get_assets_root_path()
Switch depth to new eDistanceToPlane sensor
Enable OmniGraph
omni.isaac.shapenet
Fixed
Make webserver thread a daemon so it does not block fast exit
jupyter_notebook.sh can now take file names with spaces in them
Changed
Add defaults to http commands
clearer message when shapenet.org login fails
allow random ids to work outside the ui
omni.isaac.statistics_logging
New Extension
omni.isaac.surface_gripper
Changed
Change Tests to use meters as distance unit
Added
Surface Gripper Omnigraph Node
omni.isaac.synthetic_utils
Changed
Modify the initialize() function to wait until sensor data is available
Replaced find_nucleus_server() with get_assets_root_path()
updated code to match API changes in omni.syntheticdata
Added
YCB Video writer
omni.isaac.ui
General
expose labels for file/folder picker
Windows support to open vscode and folders
omni.isaac.ui_template
Added
Fixes layout issues
omni.isaac.unit_converter
General
bugfix when Joints are nested in Meshes or Primitive shapes get double-scaled
bugfix when Update All referenced stages is uncheckeced - local delta to complete the conversion.
omni.isaac.universal_robots
Changed
backwards compatible change to UR10’s post_reset() implementation. Removed the hard coded override, and added the hard coded config as a default config in initialize(). Functionality equivalent but uses the underlying Articulation objects’s default config functionality.
Changed InverseKinematicsSolver class to KinematicsSolver class, using the new LulaKinematicsSolver class in motion_generation
Updated RmpFlowController class init alongside modifying motion_generation extension
Updated RmpFlowController class alongside changes to motion_generation extension
Replaced find_nucleus_server() with get_assets_root_path()
Fixed
Adding a gripper to UR10
omni.isaac.urdf
Changed
Fix title for file picker
Fix units for samples
Add joint values API
Add Texture import compatibility for Windows.
Revamped UI
Fixed bug where missing mesh on part with urdf material assigned would crash on material binding in a non-existing prim.
Fix bug where material was indexed by name and removing false duplicates.
Add Normal subdivision group import parameter.
omni.isaac.utils
Changed
Replaced find_nucleus_server() with get_assets_root_path()
omni.isaac.version
New Extension
omni.isaac.wheeled_robots
New Extension
omni.isaac.window.about
Changed
Use omni.isaac.version.get_version()
omni.usd.schema.isaac
Added
Add Isaac Sensor USD Schema
Add Contact Sensor USD Schema
Add IMU Sensor USD Schema