Release Notes
4.1.0
General
Based on Kit 106.0.1
Both the Workstation app and Container will access assets directly from the Cloud by default.
PhysX
Debug visualization can now display friction impulses for contacts
Fixed: Debug visualization for contact points had an artificial one frame delay that was removed
Fixed: Articulation Mimic Joint cloning (i.e. replication) was not working
Fixed: Articulation Joint Friction Coefficient and Maximum Velocity Limit were not updated at runtime with GPU simulation
It is now possible to query actual GPU buffer use through the simulation statistics interface get_physx_scene_statistics which can help size the GPU buffer parameters in the Physics Scene API for large RL scenes
Fixes for possible crashes in triggers, articulation parsing, joints visualization, physics inspector and others
Joint state validation added into asset validation tool
The visual debugger OmniPVD added fixes to streaming of objects in RL scenarios, using the GPU pipeline and cloning. Also added fixes to reading of articulations and joints in such scenes in the viewer.
Assets/ Import
Added materials for UR20 / UR30 robot arms
Tuned physics parameters for the 2f 85 and 2f 140 manipulators
Replicator
Improved pointcloud annotator performance
Improved semantic segmentation annotator performance
Improved performance when scenes have many graph nodes
Fixed: Bug causing error when writing to attributes of dtype=float4
Fixed: Issue where detaching a specific NodeWriter instance would detach all node writers of the same type
Fixed: Error when applying randomizer.rotation on prims with opOrders that don’t already include rotateXYZ
Fixed: issue with pointcloud annotator with a multi-GPU system
Fixed: BasicWriter writing to both S3 and local disk when specifying S3 parameters
Robots
Added ackermann controller class
Deprecated ackermann steering node and replaced it with ackermann controller node
Sensors
Lidar flat scans now report correct azimuth range, and provide timestamp of first beam in scan
Fixes many small errors and warnings when using omni.isaac.sensor extension
ROS
Adds IsaacROS2CameraInfoHelper OGN node as preferred method to publish ROS2 CameraInfo messages for monocular and stereo cameras, including correct stereo rectification parameter
Added support for ROS2 Bridge with WSL2 on Windows
MetroSim
ORO extension
Known issue: running on windows has regex import error; this will get fixed in the next release
We can now recursively pack boxes of boxes - description files are added as examples.
A mutable attribute specific seed that can be calculated through macros is supported.
Macros are improved to have relative and absolute macros, for referencing in a compact way. Also you can freely refer to lists recursively with ~ grammar.
Docs are updated to explain these new features..
ORA extension
Improved the agent spawning such that it checks the Axis-Aligned Bounding Box to prevent spawning inside the static obstacles
SDG now runs synchronously by default
Kit SDK Version
Changed: 106.0.0 -> 106.0.1
Dependencies
Added
omni.sensors.tiled: 0.0.4
omni.kit.converter.common: 500.0.8
omni.kit.converter.dgn: 500.0.4
omni.kit.converter.dgn_core: 500.0.12
omni.kit.converter.hoops: 500.0.5
omni.kit.converter.hoops_core: 500.0.12
omni.kit.converter.jt: 500.0.4
omni.kit.converter.jt_core: 500.0.12
Removed
omni.blast: 0.15.2
omni.entity.spawn.bundle: 0.2.3
omni.entity.spawn.core: 0.2.3
omni.entity.spawn.ui: 0.4.3
omni.flowusd.bundle: 1.0.2
omni.flowusd.ui: 106.0.1
omni.genproc.bundle: 105.1.0
omni.genproc.ui: 105.1.2
omni.graph.window.particle.system: 105.1.22
omni.kit.tools.mergemesh: 0.1.6
omni.ocean: 0.4.8
omni.paint.brush.attributes: 1.3.1
omni.paint.brush.scatter: 105.1.7
omni.paint.brush.scripting: 105.0.2
omni.paint.system.bundle: 105.10.2
omni.paint.system.core: 105.10.1
omni.paint.system.ui: 105.1.6
omni.particle.system.bundle: 105.1.0
omni.particle.system.core: 105.1.8
omni.particle.system.ui: 105.1.13
omni.schema.audio.boom: 0.5.0
omni.tools.distribute: 105.0.4
omni.tools.randomizer: 105.0.2
omni.kit.converter.cad_core: 201.0.2
omni.kit.converter.common: 201.0.2
omni.kit.converter.dgn_core: 201.0.2
omni.kit.converter.jt_core: 201.0.2
omni.houdini_engine.core: 0.3.0
omni.houdini_engine.hda_loader: 0.2.0
omni.isaac.dofbot: 0.3.2
Changed
omni.isaac.sim.base: 4.0.0 -> 4.1.0
omni.replicator.core: 1.11.8 -> 1.11.14
omni.sensors.nv.common: 1.0.1 -> 1.2.2-isaac
omni.sensors.nv.lidar: 1.0.1 -> 1.2.2-isaac
omni.sensors.nv.ids: 1.0.1 -> 1.1.0-isaac
omni.sensors.nv.materials: 1.0.0 -> 1.2.1-isaac
omni.sensors.nv.radar: 1.0.1 -> 1.2.1-isaac
omni.sensors.nv.ultrasonic: 1.0.2 -> 1.2.1-isaac
omni.sensors.nv.wpm: 1.0.0 -> 1.2.1-isaac
semantics.schema.editor: 0.3.4 -> 0.3.6
semantics.schema.property: 1.0.2 -> 1.0.3
omni.importer.mjcf: 1.1.0 -> 1.1.1
omni.anim.people: 0.3.3 -> 0.4.1
omni.replicator.object: 0.2.16 -> 0.3.4
omni.replicator.agent.core: 0.2.3 -> 0.3.1
omni.replicator.agent.ui: 0.2.3 -> 0.3.1
omni.replicator.agent.camera_calibration: 0.2.3 -> 0.3.1
omni.anim.curve_editor: 105.17.8 -> 105.17.9
omni.anim.navigation.core: 106.0.1 -> 106.0.2
omni.anim.navigation.ui: 106.0.1 -> 106.0.2
omni.asset_validator.ui: 0.11.3 -> 0.11.5
omni.flowusd: 106.0.14 -> 106.0.15
omni.graph.action: 1.101.1 -> 1.102.1
omni.graph.action_nodes: 1.21.3 -> 1.23.0
omni.graph.io: 1.8.1 -> 1.9.1
omni.graph.nodes: 1.141.2 -> 1.143.0
omni.graph.scriptnode: 1.18.2 -> 1.19.1
omni.graph.telemetry: 2.12.1 -> 2.13.1
omni.graph.tutorials: 1.26.1 -> 1.27.1
omni.graph.ui: 1.67.1 -> 1.70.0
omni.graph.ui_nodes: 1.24.1 -> 1.25.1
omni.graph.window.action: 1.25.2 -> 1.26.0
omni.graph.window.core: 1.107.1 -> 1.109.0
omni.graph.window.generic: 1.23.1 -> 1.24.0
omni.kit.asset_converter: 2.1.10 -> 2.1.11
omni.kit.environment.core: 1.3.10 -> 1.3.11
omni.kit.pointclouds: 1.3.4 -> 1.3.5
omni.kit.widget.extended_searchfield: 1.0.27 -> 1.0.28
omni.kit.xr.advertise: 106.0.50 -> 106.0.71
omni.kit.xr.core: 106.0.50 -> 106.0.71
omni.kit.xr.example.usd_scene_ui: 106.0.50 -> 106.0.71
omni.kit.xr.profile.ar: 106.0.50 -> 106.0.71
omni.kit.xr.profile.common: 106.0.50 -> 106.0.71
omni.kit.xr.profile.tabletar: 106.0.50 -> 106.0.71
omni.kit.xr.profile.vr: 106.0.50 -> 106.0.71
omni.kit.xr.scene_view.core: 106.0.50 -> 106.0.71
omni.kit.xr.scene_view.utils: 106.0.50 -> 106.0.71
omni.kit.xr.system.cloudxr: 106.0.50 -> 106.0.71
omni.kit.xr.system.cloudxr41: 106.0.50 -> 106.0.71
omni.kit.xr.system.openxr: 106.0.50 -> 106.0.71
omni.kit.xr.system.playback: 106.0.50 -> 106.0.71
omni.kit.xr.system.steamvr: 106.0.50 -> 106.0.71
omni.kit.xr.telemetry: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.common: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.generic: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.htcvive: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.magicleap: 106.0.50 -> 106.0.71
omni.kit.xr.ui.config.metaquest: 106.0.50 -> 106.0.71
omni.kit.xr.ui.stage.common: 106.0.50 -> 106.0.71
omni.kit.xr.ui.window.profile: 106.0.50 -> 106.0.71
omni.kit.xr.ui.window.viewport: 106.0.50 -> 106.0.71
omni.services.pip_archive: 0.13.3 -> 0.13.5
omni.services.transport.server.http: 1.3.0 -> 1.3.1
omni.usd.fileformat.e57: 1.2.1 -> 1.2.3
omni.warehouse_creator: 0.3.5 -> 0.4.0
omni.warp: 1.1.0 -> 1.2.1
omni.asset_validator.core: 0.11.3 -> 0.11.5
omni.kit.converter.cad: 201.0.2 -> 201.1.0-rc.4
omni.scene.optimizer.bundle: 106.0.4 -> 106.0.15
omni.scene.optimizer.core: 106.0.4 -> 106.0.15
omni.scene.optimizer.ui: 106.0.4 -> 106.0.15
omni.warp.core: 1.1.0 -> 1.2.1
omni.kit.livestream.core: 4.3.5 -> 4.3.6
omni.kit.streamsdk.plugins: 4.4.1 -> 4.5.1
Extensions
omni.isaac.asset_browser
Changed
Update asset paths to 4.1
omni.isaac.benchmark.services
Added
Ability to store custom measurements in a specified phase
omni.isaac.benchmarks
Changed
Remove additional redundant benchmarks now covered by standalone scripts
omni.isaac.camera_inspector
Fixed
Camera Inspector erroring out on creating a new stage
omni.isaac.conveyor
Removed
Forcing Kinematics Body on Conveyor Creation
Changed
Added Velocity Variable in omnigraph to control the conveyor speed
omni.isaac.conveyor.ui
Changed
Moved the assets source to a configurable setting
Moved the config path to a configurable setting
Moved the Conveyor Track Builder to UI.
Fixed
Fixed an edge case when the first conveyor piece is added - to select the second connection point if it’s a multi-connection (so it always goes forward)
omni.isaac.core
Added
Allow find_matching_prim_paths in prim utils to return paths with valid physics APIs applied
Added a prim_type argument that supports filtering the prims returned by type: articulation and rigid_body are currently supported.
ArticulationView.pause_motion() and ArticulationView.resume_motion() methods
Changed
Make omni.kit.material.library optional, it must be enabled when using OmniGlass helper class
Changed prim_path_expr for XFormPrim, RigidPrimView, ArticulationView, RigidContactView to accept a list of regular expressions.
SimulationContext and World classes do not change camera on initialization, set_camera_view must be called separately
Fixed
Fixed ArticulationController to handle joint indices along with Nan values in the target actions.
Fixed passing filter_path_expressions as list of list of str in RigidContactView
get_articulation_root_api_prim_path for inputs like
`/World/Frank_*`instead of`/World/Franka_.*`
omni.isaac.core_nodes
Added
Add OgnIsaacPassthroughImagePtr node
register_node_writer_with_telemetry and register_annotator_from_node_with_telemetry helper functions
Fixed
ArticulationController Node allowing for multiple types of control
omni.isaac.debug_draw
Added
Added DebugDrawRayCast node to visualize arrays of raycasts
omni.isaac.examples
Removed
Deprecated omni.isaac.dofbot and removed its usage.
Changed
Base sample calls set_camera_view as it was removed from World/SimulationContext
omni.isaac.gain_tuner
Fixed
Fixed bug where robot with zero-gains causes a math error in trying to take log(0).
omni.isaac.kit
Added
ovd=”/path/to/capture/” argument that simplifies capturing of physics debugging data
Changed
omni.isaac.version, omni.ui, omni.kit.window.title are not required to use SimulationApp in headless mode
omni.isaac.menu
Removed
Deprecated omni.isaac.dofbot and removed its usage.
omni.isaac.motion_generation
Removed
Deprecated omni.isaac.dofbot and removed its usage.
Changed
omni.isaac.nucleus
Changed
Set Cloud assets path as default
Updated to 4.1 asset path
Updated get root path functions to throw a runtime error if the root path is not found
omni.isaac.range_sensor
Changed
Added deprecation warnings for the physx ultrasonic sensors
omni.isaac.range_sensor.ui
Fixed
missing omni.kit.context_menu dependency
omni.isaac.repl
Changed
Deprecate extension in favor of the vscode extension
omni.isaac.robot_description_editor
Fixed
Fixed behavior of Robot Description Editor for assets with nested link paths.
Fixed bug with toggling robot visibility causing an error on STOP.
omni.isaac.ros2_bridge
Added
added a joint state subscriber test where the jointNames are connected
OgnIsaacROS2CameraInfoHelper node to generate CameraInfo message with correct rectification parameters for stereo cameras
camera_info_utils.py module contains utility functions for generating CameraInfo message
Setting publish_multithreading_disabled for toggling ROS2 publishers to publish without multithreading
Removed
IsaacReadSimulationTime removed from RTXLidarROS2PublishFlatScan, timestamp now comes from OgnIsaacComputeRTXLidarFlatScan.
Changed
OgnIsaacROS2CameraHelper:sensor_type == camera_info deprecated in favor of OgnIsaacROS2CameraInfoHelper. This node will use camera_info_utils.py module until the functionality is fully removed in a future release.
Moved and renamed Navigation example in the menu to under Isaac Examples -> ROS2 -> Navigation -> Carter Navigation
Fixed
JointState Subscriber fills in nans when receiving empty arrays for command modes that are not used
RTX laser_scan topic name in rtx_lidar standalone example
omni.isaac.ros_bridge
Fixed
Crash on twist subscriber node release if it wasn’t run at least one frame
omni.isaac.sensor
Added
Fixed bug with rigid body sleep threshold
Setting the rigid body parent sleep threshold to 0 to prevent physics to go to sleep.
Setting the contact reporter threshold to 0 to make sure all contacts are reported.
OgnIsaacPrintRTXSensorInfo - uses Python bindings to decompose and print GMO struct
LightBeam Sensor class that uses raycasts to detect if a beam is broken
Omnigraph nodes to read data from this light beam sensor
Fixed
OgnIsaacComputeRTXLidarFlatScan publishes timestamp of first beam in scan
Isaac Sim lidar profiles omit deprecated fields and include new default fields
Default sensor profiles omit deprecated fields and include new default fields
Warns when user provides invalid sensor config paths
Corrects OgnIsaacComputeRTXLidarFlatScan azimuthRange output to span true min/max azimuth of scan
omni.isaac.synthetic_recorder
Added
Verbose checkbox to print the recorder status (e.g. current frame number) to the console
Changed
Capture loop is now using orhcestrator.step in a loop instead of orchestrator.run guaranteeing that the recorder is always in sync with the simulation (useful if custom or external randomizations are changing the stage)
omni.isaac.ui
Added
Added ability to trigger Button and StateButton clicks programmatically.
Fixed
Fixed scrolling window set_num_lines() function argument type.
omni.isaac.wheeled_robots
Added
Ackermann controller class
Ackermann controller Omnigraph node
Changed
Deprecated old OgnAckermann OmniGraph node
omni.usd.schema.isaac
Added
Added lightbeam sensor to Isaac Sensor Schema, bumping version