Changelog#
[107.3.27] - 2025-10-21#
Version bump.
[107.3.26] - 2025-10-03#
Core#
General
- Added
- A joint parameter tuning example for a specific gripper has been added to the Omniverse Physics Developer Guide.
- Fixed
- Fixed interaction of deformables with non-root articulation links
[107.3.25] - 2025-09-19#
Core#
General
- Fixed
- Fixed a crash when FabricParticles::update() is called but mFabricParticles is nullptr
- Implement correct synchronization for deformable skinning
TensorAPI
- Fixed
- Fixes tensor API rigid-body and articulation setInertia methods. The setters were not setting the principal axis correctly, leading to incorrect inertias set on links and bodies in case inertial and body frames were not aligned.
[107.3.24] - 2025-09-05#
Core#
General
- Added
- New custom attribute physxScene:solveArticulationContactLast. This reorders the solver as a potential aid for gripping scenarios.
- Fixed
- Fixed physics umbrella contact event type python binding
- Fixed crash when PhysX mesh cooking stream overflows
- Fixed a crash when trying to doing a scene query without the cooking service being available
[107.3.23] - 2025-09-02#
Core#
General
- Fixed
- Omni Physics Umbrella fixes
- Quasistatic mode now works properly when omni.physx.fabric is enabled
- Fixed crash when update was called without omni.physx initialized
- Fixed crash when material failed to be created within PhysX SDK
- Fixed crash when default scene material was released and new scene created
Fabric
- Fixed
- Update Kinematic Bodies in omni.physx.fabric by default
[107.3.22] - 2025-08-27#
Core#
General
- Fixed
- FSD & Particle Postprocess (Isosurface/Smoothing/Anisotropy) USD writes would cause static rigid collider transforms to be reset to identity,leading to erroneous collisions.
- Deformable render mesh skinning now works with PhysxAutoDeformableMeshSimplificationAPI on surface deformables. The remeshing option will lead to bad results however, it should be disabled.
- Fixed crash in SurfaceDeformablePostSolveCallback::onPostSolve() when an invalid buffer is used in surface deformable skinning
- Fixed index out of range crash in PhysXUsdPhysicsInterface::createDeformableCollisionFilter()
Fabric
- Fixed
- Omni.physx.fabric extension shutdown turns off the fabric output setting
[107.3.21] - 2025-08-18#
Core#
General
- Fixed
- Cooking read data from USD with precedence
Fabric
- Changed
- Omni.physx.fabric resume does not write initial pose into fabric for every resume, just for the initial one
- Fixed
- Fix deformable surface does not reset to original position when stopped
[107.3.20] - 2025-08-04#
Core#
General
- Fixed
- Fixed PhysXReplicator multithreading crash
[107.3.19] - 2025-07-31#
Core#
General
- Changed
- Stage update resume no longer triggers parsing if app simulation play is disabled
UI#
General
- Changed
- SupportUI initial stage traversal switched to USDRT
- Fixed
- Fix index out of range issue in deformable mesh visualizer
[107.3.18] - 2025-07-23#
Core#
TensorAPI
- Fixed
- Fixed issue when TensorAPI used stale pointers if all physics objects were destroyed
[107.3.17] - 2025-07-22#
Core#
TensorAPI
- Fixed
- Fixed TensorAPI USDRT initialization, happens now only if Fabric cloning is used
[107.3.16] - 2025-07-18#
Core#
General
- Fixed
- Fixed parsing of filtered pairs on deformable body collision meshes.
- Fixed overflow on internal API flags leading to deformable mesh simplification being broken.
TensorAPI
- Fixed
- Fixed fabric cloning for deformable and particle materials.
[107.3.15] - 2025-07-08#
Core#
General
- Changed
- Using USDRT to populate tensor prims
- Fixed
- Fixed a regression in the GPU geometry code that could cause ghost contacts between a sphere and a triangle mesh.
[107.3.14] - 2025-07-03#
Core#
General
- Fixed
- Fixed crash when changing volume deformable body simulation mesh resolution after simulating for the first time.
- Fixed parsing of deformable body collision group, enabling group filtering on collision mesh directly.
Python Bindings API
- Fixed
- Fixed hasconflictingapis_DeformableBodyAPI, removed UsdPhysicsCollisionAPI as a conflict
Fabric
- Changed
- Mismatched prototypes on point instancer error lowered to warning
[107.3.13] - 2025-06-25#
Core#
Fabric
- Fixed
- Multiple GPU CUDA buffers access
[107.3.12] - 2025-06-18#
Core#
General
- Fixed
- When running with suppressed GPU data readback (setting "suppressReadback"), non-articulation joints were not able to break if the force exceeded the break threshold. The joints do break now but there is a potential performance penalty if the stage has breakable joints.
- Revised DeformableSchemaChecker Asset Validator, supporting some more use-cases, particularly collision filtering for attachments.
- Crash in CollisionGroups processing
- Various validator rules fixed
Fabric
- Fixed
- Improved performance for initialization of rigid bodies when omni.physx.fabric is enabled
[107.3.11] - 2025-06-12#
Core#
General
- Fixed
- Setting pose for articulation and bodies is not executed on CPU when suppress readback is enabled
- Deformables wrong initial transformation
[107.3.10] - 2025-06-06#
Core#
General
- Changed
- Refactored tensor API for new deformable schema and introduced support for surface deformables.
- Fixed
- Speedup of some omni.physx.tests tests.
- On release clear both trigger and other shape.
[107.3.9] - 2025-05-30#
Core#
General
- Fixed
- Fixed collision scene graph instancing transformation
- Fixed default simulator None crash with collision groups
[107.3.8] - 2025-05-28#
Core#
General
- Fixed
- Replication schemaAPI caching
Fabric
- Fixed
- Kinematics bodies switch fixed when omni.physx.fabric is used
TensorAPI
- Fixed
- Duplicate names for joints and links leads to undefined behavior
UI#
General
- Added
- Now emits warning message if having unsupported limit defined on an articulated joint.
- Added articulated joint check to the asset validator to detect the pressence of unsupported attributes.
[107.3.7] - 2025-05-22#
Core#
General
- Changed
- Skip structural changes for prototypes
- Fixed
- Translation and rotation joint limit are now locked by default instead of set to out-of-range values.
- Fixed multiple materials handling on non-triangle mesh approximations
- Initialization for rigid body Fabric upadate can work with Fabric data
TensorAPI
- Fixed
- Fixed scale for kinematic bodies updated in TensorAPI
UI#
General
- Changed
- Collision visualization for a triangle mesh that belongs to a dynamic rigid body is visualized in dark red color, this indicates that this is not valid for PhysX and a fallback to convex hull will happen. Validation rule for this case was added to the asset validator.
[107.3.6] - 2025-05-15#
Core#
General
- Added
- Usd object ID validity check on release
- Fixed
- Rigid-deformables attachment points conversion
[107.3.5] - 2025-05-14#
Core#
General
- Fixed
- Fixed potential crashes in the context of failed particle sampling.
- Joint Demo emitting error message.
[107.3.4] - 2025-05-11#
Core#
General
- Fixed
- Collider widget approximation property switching.
- Added more API schemas to a geometry widget private list to have them not show in generic widgets.
- Various deformable visualizer fixes and support for simulation and collision meshes using guide purpose.
[107.3.3] - 2025-05-06#
Core#
General
- Fixed
- Fixed crash in createObject when invalid materials were parsed
[107.3.2] - 2025-05-02#
Core#
General
- Added
- Physics umbrella - new extensions wrapping PhysX simulation, omni.physics, omni.physics.physx and omni.physics.stageupdate, this project does enable support for multiple physics integrations.
- Changed
- Muted error when velocity gets applied to non root articulaton links
Fabric
- Changed
- Change tracking processing is reading data from incoming change source rather than reading from fabric with precedence
- Fixed
- TensorAPI set kinematic bodies flushes transformation updates to Fabric to make transformations valid
UI#
General
- Added
- Asset validator rule for physics schema correctness added
- Asset validator rule for joint pose validation
[107.3.1] - 2025-04-28#
Core#
General
- Added
- Add IPhysxJoint interface exposing joint state data
- New deformable beta feature, that can be enabled in Physics Settings
- Support for PhysxSplinesSurfaceVelocityAPI
- New joint friction model and new drive model
- Deprecated
- The old joint friction model relying on friction coefficient
USD Schemas
- Added
- PhysxSchemaAddition codeless schema with PhysX specific APIs PhysxJointAxisAPI, PhysxDrivePerformanceEnvelopeAPI, PhysxSplinesSurfaceVelocityAPI, and APIs for deformable beta feature.
- OmniUsdPhysicsDeformableSchema codeless schema with general deformable beta APIs
Python Bindings API
- Added
- Names of API and attributes for codeless schema: JOINT_AXIS_API and attributes and PERF_ENV_API and attributes
TensorAPI
- Added
- get_dof_friction_properties/set_dof_friction_properties and get_dof_drive_model_properties/set_dof_drive_model_properties
- Fixed
- Tensor API max joint velocity per axis
[107.3.0] - 2025-04-10#
Version bump.
[107.2.2] - 2025-04-04#
Core#
General
- Added
- Support for PhysxSplinesSurfaceVelocityAPI
- Mass, convex approximation and joint bodies validation were added as omni.asset_validator checkers.
- Changed
- Backward compatibility validation was reimplemented as an omni.asset_validator checker.
- Fixed
- For non-articulation joints, it was not possible to set different type/maxForce/damping/stiffness attribute values on PhysicsDriveAPI::rotY and PhysicsDriveAPI::rotZ. The attribute values were always shared among the two axes.
[107.2.1] - 2025-03-25#
Version bump.
[107.2.0] - 2025-03-21#
Version bump.
[107.0.18] - 2025-02-07#
Version bump.
[107.0.16] - 2024-12-05#
Version bump.
[107.0.15] - 2024-12-02#
Version bump.
[107.0.14] - 2024-11-17#
Initial OpenUSD 24.05 and Python 3.11 version.
[106.5.0] - 2024-11-17#
Version bump.
[106.4.7] - 2024-11-15#
Version bump.
[106.4.6] - 2024-11-14#
Core#
General
- Fixed
- Fix ConvexMeshData demo warnings and improve description
- Fixed the Lego Technic Buggy demo
- Fixed physx.tensors SDF warning when parsing invalid patterns
- Removed
- Removed the Museum demo
- Removed the Franka Deformable demo
- Removed the Paint Ball Emitter demo
[106.4.5] - 2024-11-06#
Core#
General
- Fixed
- Avoid Physics Inspector crash when accessing an invalid prim
- Create fabric attributes optimization
- Flush updates optimization
- Processing EnvIds does not anymore reinsert objects from a scene
TensorAPI
- Fixed
- Fixed a crash in the rigid body contact view
[106.4.4] - 2024-11-01#
Core#
General
- Changed
- "Compatibility with Fabric Hierarchy and FSD" reverted.
- Fixed
- Demo tests filtering in non-local mode.
[106.4.3] - 2024-10-30#
Core#
TensorAPI
- Fixed
- A crash in rigid body contact reporting when using PhysX replication was fixed.
[106.4.2] - 2024-10-28#
Core#
General
- Added
- PhysX flushes certain changes from USD to Fabric before reading from Fabric and after writing to USD. PhysX is compatible with FSD.
Fabric
- Added
- omni.physx.fabric writes new RigidBody world space TRS attributes.
- Changed
- PhysX listens to local matrix and writes world and local matrices in Fabric. PhysX is compatible with FabricHierarchy.
Vehicles#
General
- Fixed
- Crash when PhysxVehicleAckermannSteeringAPI was applied and used after the simulation had started. Note that applying PhysxVehicleAckermannSteeringAPI after the simulation has started is not supported.
UI#
General
- Added
- New viewport overlay for visual joint authoring.
- Several new features added to the Simulation Data Visualizer window.
[106.4.1] - 2024-10-15#
Version bump.
[106.4.0] - 2024-10-07#
Version bump.