Release Notes

4.2.0

General

  • Updated to Kit 106.1.0

  • RTX based tiled rendering

  • Fixed one frame delay between simulation and rendering

  • Special mode for zero frame delay between simulation and rendering

  • Better stability for MGPU use cases

  • Use a more performant ROS2 QOS profile for sensor data

Isaac Lab

  • RTX-based tiled rendering support

  • Deformable environments

  • RL with Multi-agent environments

  • Deterministic RL training for environments

  • Startup and cloning performance improvements

  • Performance optimizations for domain randomization

  • Support for command line argument config modification

  • Many bug fixes and improvements, including everything mentioned in the Isaac Sim section above

PhysX

Bug Fixes

  • Acceleration computation for rigid bodies was incorrect for both CPU and GPU if velocities were updated by the user in-between simulation steps.

  • CPU/GPU differences in resolving maximal-coordinate (e.g. D6) joint constraints with fixed-base articulation roots have been resolved. The behavior is identical now.

  • A crash when the articulation joint velocity limit was set to zero is resolved.

  • An effective-solver-timestep inaccuracy for the CPU TGS solver with nonzero velocity iterations was resolved.

  • A bug in collision resolution where a sphere could fall through a flat triangle mesh when it landed precisely on a mesh vertex.

  • Crash fixes for articulations parsing

  • Crash fixes for joints UI authoring

  • Crash in PhysX inspector

  • Collision mesh cache invalidation for topology changes

Replicator

  • Fixed pose estimation SDG pipeline slowdown when generating many frames

  • Fixed DOPE writer output format

  • Changed the Synthetic Data Recorder extension to write data in sync with the stage

  • Updated omni.replicator.core to version 1.11.20

  • Fixed crash when capturing data with path tracing in complex scenarios

  • Improved pointcloud annotator performance

Robots

  • Humanoid locomotion example

  • Quadruped locomotion example

Sensors

  • Fixes OgnIsaacPrintRTXSensorInfo crashing if fed data from radar

  • Isaac assets creation menu now spawns lidar meshes if they exist, and includes Gemini 335, Gemini 335L, and LeopardImaging Owl

  • CameraView API now uses full RTX tiled renderer

ROS

  • New ROS 2 Navigation sample with iw.hub robot

  • Nova Carter asset now uses Sensor Data QoS profile to publish all sensor data for increased performance

  • ROS 2 Foxy is no longer tested or supported, which may affect compatibility with Isaac Sim 4.2 or later. The ROS 2 Foxy Isaac Sim tutorial packages will be removed in a future release.

MetroSim

ORO extension

  • Several new example description files to show bin pack harmonizer usage.

  • A drop-down box to select description files

ORA extension

  • Updated the ORA to use omni.anim.navigation-version-106.1

  • Added DHWriter to enable auto-enabling of DH character attributes

  • Use home directory for default writer output

  • Temporarily disabled Lidar and LidarFusion writers, and the -n flag for sdg_scheduler

Kit SDK Version

Changed: 106.0.1 -> 106.1.0

Dependencies

Added

  • omni.anim.navigation.navmesh.recast: 106.1.4

  • omni.net: 0.0.1-isaac-1

  • omni.sensors.nv.camera: 0.10.0-isaac-1

  • omni.sensors.nv.visualizer: 1.0.1-isaac-1

  • omni.usd.fileformat.pts: 106.0.1

  • omni.kit.capture.viewport: 1.5.1

  • omni.kit.tool.collect: 2.2.14

Removed

  • omni.gdn_asset_publisher: 0.9.26

  • omni.isaac.onshape: 0.6.5

  • omni.kit.browser.asset_provider.actorcore: 1.0.6

  • omni.kit.browser.asset_provider.sketchfab: 1.0.10

  • omni.kit.browser.asset_provider.turbosquid: 1.0.9

  • omni.kit.browser.asset_store: 1.3.1

  • omni.kit.browser.showcase: 1.0.4

  • omni.kit.simscale: 2.1.0

  • omni.kit.text3d: 1.3.0

  • omni.kit.window.environment: 1.7.1

Changed

  • omni.anim.asset: 106.0.3 -> 106.1.0

  • omni.anim.behavior.schema: 106.0.1 -> 106.1.0

  • omni.anim.curve.core: 1.1.13 -> 1.1.14

  • omni.anim.curve.ui: 1.3.16 -> 1.3.17

  • omni.anim.curve_editor: 105.17.9 -> 105.17.10

  • omni.anim.graph.bundle: 106.0.3 -> 106.1.0

  • omni.anim.graph.core: 106.0.6 -> 106.1.2

  • omni.anim.graph.schema: 106.0.2 -> 106.1.0

  • omni.anim.graph.ui: 106.0.1 -> 106.1.1

  • omni.anim.navigation.bundle: 106.0.1 -> 106.1.0

  • omni.anim.navigation.core: 106.0.2 -> 106.1.3

  • omni.anim.navigation.schema: 106.0.2 -> 106.1.0

  • omni.anim.navigation.ui: 106.0.2 -> 106.1.1

  • omni.anim.people: 0.4.1 -> 0.5.0

  • omni.anim.retarget.bundle: 106.0.1 -> 106.1.0

  • omni.anim.retarget.core: 106.0.1 -> 106.1.2

  • omni.anim.retarget.ui: 106.0.1 -> 106.1.1

  • omni.anim.shared.core: 106.0.0 -> 106.0.1

  • omni.anim.skelJoint: 106.0.1 -> 106.1.2

  • omni.asset_validator.core: 0.11.5 -> 0.11.8

  • omni.asset_validator.ui: 0.11.5 -> 0.11.8

  • omni.convexdecomposition: 106.0.20 -> 106.1.9

  • omni.curve.manipulator: 105.2.6 -> 105.2.8

  • omni.flowusd: 106.0.15 -> 106.1.1

  • omni.genproc.core: 105.1.9 -> 106.1.0

  • omni.graph.action_nodes: 1.23.0 -> 1.24.0

  • omni.graph.bundle.action: 2.0.4 -> 2.4.1

  • omni.graph.nodes: 1.143.0 -> 1.146.1

  • omni.graph.scriptnode: 1.19.1 -> 1.20.1

  • omni.graph.telemetry: 2.13.1 -> 2.15.0

  • omni.graph.tutorials: 1.27.1 -> 1.29.0

  • omni.graph.ui: 1.70.0 -> 1.70.2

  • omni.graph.ui_nodes: 1.25.1 -> 1.26.0

  • omni.graph.window.action: 1.26.0 -> 1.28.0

  • omni.graph.window.core: 1.109.0 -> 1.113.1

  • omni.graph.window.generic: 1.24.0 -> 1.26.0

  • omni.importer.onshape: 0.7.1 -> 0.7.3

  • omni.isaac.sim.base: 4.1.0 -> 4.2.0

  • omni.kit.asset_converter: 2.1.11 -> 2.1.21

  • omni.kit.browser.asset: 1.3.9 -> 1.3.10

  • omni.kit.browser.folder.core: 1.9.12 -> 1.9.13

  • omni.kit.browser.material: 1.5.2 -> 1.6.0

  • omni.kit.browser.sample: 1.4.7 -> 1.4.8

  • omni.kit.converter.cad: 201.1.0-rc.4 -> 201.1.0

  • omni.kit.converter.common: 500.0.8 -> 500.0.10

  • omni.kit.converter.dgn: 500.0.4 -> 500.0.6

  • omni.kit.converter.dgn_core: 500.0.12 -> 500.0.19

  • omni.kit.converter.hoops: 500.0.5 -> 500.0.7

  • omni.kit.converter.hoops_core: 500.0.12 -> 500.0.17

  • omni.kit.converter.jt: 500.0.4 -> 500.0.7

  • omni.kit.converter.jt_core: 500.0.12 -> 500.0.16

  • omni.kit.converter.patchmanager: 1.0.25 -> 1.0.26

  • omni.kit.converter.vtk: 2.3.1 -> 2.3.1

  • omni.kit.data2ui.core: 1.0.25 -> 1.0.27

  • omni.kit.data2ui.usd: 1.0.25 -> 1.0.27

  • omni.kit.environment.core: 1.3.11 -> 1.3.14

  • omni.kit.gfn: 106.0.4 -> 106.0.5

  • omni.kit.pointclouds: 1.3.5 -> 1.4.3

  • omni.kit.preferences.animation: 1.1.7 -> 1.1.8

  • omni.kit.profiler.tracy: 1.1.4 -> 1.1.5

  • omni.kit.profiler.window: 2.2.1 -> 2.2.3

  • omni.kit.property.environment: 1.1.7 -> 1.2.1

  • omni.kit.property.physx: 106.0.20 -> 106.1.9

  • omni.kit.scripting: 106.0.1 -> 106.1.1

  • omni.kit.streamsdk.plugins: 4.5.1 -> 4.5.3

  • omni.kit.sequencer.usd: 103.4.4 -> 103.4.5

  • omni.kit.tool.measure: 105.2.5 -> 105.2.6

  • omni.kit.variant.editor: 106.0.0 -> 106.1.0

  • omni.kit.variant.presenter: 105.1.2 -> 106.0.0

  • omni.kit.waypoint.core: 1.4.52 -> 1.4.54

  • omni.kit.window.material: 1.5.7 -> 1.6.2

  • omni.kit.window.material_graph: 1.8.15 -> 1.8.18

  • omni.kit.window.modifier.titlebar: 105.1.10 -> 105.2.16

  • omni.kit.window.movie_capture: 2.4.1 -> 2.4.2

  • omni.kit.xr.advertise: 106.0.71 -> 106.1.24

  • omni.kit.xr.core: 106.0.71 -> 106.1.24

  • omni.kit.xr.example.usd_scene_ui: 106.0.71 -> 106.0.116

  • omni.kit.xr.profile.ar: 106.0.71 -> 106.1.24

  • omni.kit.xr.profile.common: 106.0.71 -> 106.1.24

  • omni.kit.xr.profile.tabletar: 106.0.71 -> 106.1.24

  • omni.kit.xr.profile.vr: 106.0.71 -> 106.1.24

  • omni.kit.xr.scene_view.core: 106.0.71 -> 106.1.24

  • omni.kit.xr.scene_view.utils: 106.0.71 -> 106.1.24

  • omni.kit.xr.system.cloudxr: 106.0.71 -> 106.1.24

  • omni.kit.xr.system.cloudxr41: 106.0.71 -> 106.1.24

  • omni.kit.xr.system.openxr: 106.0.71 -> 106.1.24

  • omni.kit.xr.system.playback: 106.0.71 -> 106.1.24

  • omni.kit.xr.system.steamvr: 106.0.71 -> 106.1.24

  • omni.kit.xr.telemetry: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.config.common: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.config.generic: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.config.htcvive: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.config.magicleap: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.config.metaquest: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.stage.common: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.window.profile: 106.0.71 -> 106.1.24

  • omni.kit.xr.ui.window.viewport: 106.0.71 -> 106.1.24

  • omni.kvdb: 106.0.20 -> 106.1.9

  • omni.localcache: 106.0.20 -> 106.1.9

  • omni.no_code_ui.bundle: 1.0.25 -> 1.0.27

  • omni.physx: 106.0.20 -> 106.1.9

  • omni.physx.camera: 106.0.20 -> 106.1.9

  • omni.physx.cct: 106.0.20 -> 106.1.9

  • omni.physx.commands: 106.0.20 -> 106.1.9

  • omni.physx.cooking: 106.0.20 -> 106.1.9

  • omni.physx.demos: 106.0.20 -> 106.1.9

  • omni.physx.foundation: 106.0.20 -> 106.1.9

  • omni.physx.graph: 106.0.20 -> 106.1.9

  • omni.physx.stageupdate: 106.0.20 -> 106.1.9

  • omni.physx.supportui: 106.0.20 -> 106.1.9

  • omni.physx.telemetry: 106.0.20 -> 106.1.9

  • omni.physx.ui: 106.0.20 -> 106.1.9

  • omni.physx.vehicle: 106.0.20 -> 106.1.9

  • omni.replicator.agent.camera_calibration: 0.3.1 -> 0.4.0

  • omni.replicator.agent.core: 0.3.1 -> 0.4.1

  • omni.replicator.agent.ui: 0.3.1 -> 0.4.0

  • omni.replicator.core: 1.11.14 -> 1.11.20

  • omni.replicator.object: 0.3.4 -> 0.3.8

  • omni.replicator.replicator_yaml: 2.0.5 -> 2.0.6

  • omni.scene.optimizer.bundle: 106.0.15 -> 106.1.1

  • omni.scene.optimizer.core: 106.0.15 -> 106.1.1

  • omni.scene.optimizer.ui: 106.0.15 -> 106.1.1

  • omni.sensors.nv.common: 1.2.2-isaac -> 1.2.2-isaac-1

  • omni.sensors.nv.ids: 1.1.0-isaac -> 1.1.0-isaac-1

  • omni.sensors.nv.lidar: 1.2.2-isaac -> 1.2.2-isaac-1

  • omni.sensors.nv.materials: 1.2.1-isaac -> 1.2.1-isaac-1

  • omni.sensors.nv.radar: 1.2.1-isaac -> 1.2.1-isaac-1

  • omni.sensors.nv.ultrasonic: 1.2.1-isaac -> 1.2.1-isaac-1

  • omni.sensors.nv.wpm: 1.2.1-isaac -> 1.2.1-isaac-1

  • omni.sensors.tiled: 0.0.4 -> 0.0.6

  • omni.services.pip_archive: 0.13.5 -> 0.13.6

  • omni.simready.explorer: 1.0.26 -> 1.1.1

  • omni.slangnode: 106.0.0 -> 106.1.0

  • omni.usd.fileformat.e57: 1.2.3 -> 1.2.4

  • omni.usd.metrics.assembler: 106.0.1 -> 106.1.0

  • omni.usd.metrics.assembler.physics: 106.0.2 -> 106.1.0

  • omni.usd.metrics.assembler.ui: 106.0.2 -> 106.1.0

  • omni.usd.schema.forcefield: 106.0.20 -> 106.1.9

  • omni.usd.schema.metrics.assembler: 106.0.1 -> 106.1.0

  • omni.usd.schema.physx: 106.0.20 -> 106.1.9

  • omni.usd.schema.sequence: 2.3.0 -> 2.3.1

  • omni.usdphysics: 106.0.20 -> 106.1.9

  • omni.usdphysics.ui: 106.0.20 -> 106.1.9

  • omni.warehouse_creator: 0.4.0 -> 0.4.2

  • semantics.schema.editor: 0.3.6 -> 0.3.8

  • semantics.schema.property: 1.0.3 -> 1.0.4

Extensions

  • omni.exporter.urdf

    • Fixed

      • Added missing dependency

      • removed unnecessary dependencies

  • omni.isaac.app.selector

    • Fixed

      • Spelling mistake in UI

  • omni.isaac.app.setup

    • Changed

      • Removed imgui calls on app startup to avoid crash when display was not set

      • Fixed deprecation warnings

  • omni.isaac.asset_browser

    • Changed

      • Update asset paths to 4.2

  • omni.isaac.assets_check

    • Changed

      • Added deprecation notice

  • omni.isaac.benchmark.services

    • Fixed

      • convert sim_elapsed_time to ms for calculating real-time factor

  • omni.isaac.common_includes

    • Fixed

      • Bug when (re-)creating a buffer of same size on another device

  • omni.isaac.core

    • Added

      • Added functions to find missing and incorrect semantic labels

      • Added function to tally semantic labels in a scene

    • Fixed

      • .render() call to fetch physX data into fabric in the GPU pipeline

      • .render() call implicitly calls update_articulations_kinematic in order to update articulations kinematic before rendering the result

      • Exempts /Render and child prims when calling clear stage

      • Do not delete the default renderproduct for the viewport when calling clear stage

      • missing omni.kit.stage_templates dependency

      • Fix deprecation warning and use Semantics instead of pxr.Semantics

  • omni.isaac.core_nodes

    • Fixed

      • Handling of writers when they are added via attach_writer function

  • omni.isaac.cortex

    • Removed

      • Deprecation tag

  • omni.isaac.cortex.sample_behaviors

    • Removed

      • Deprecation tag

  • omni.isaac.examples

    • Added

      • Reinforcement learning based humanoid and quadruped examples

      • Humanoid H1 definition file

    • Removed

      • Optimization based quadruped controller example

    • Fixed

      • Fixed Kaya gamepad example, loading ground and light manually

      • Fixed glitch with quadruped example

  • omni.isaac.kit

    • Changed

      • Added missing tracy parameters to reduce profiling bias on measured performance

  • omni.isaac.menu

    • Added

      • Missing robots to the menu

      • Missing environments to the menu

      • Several new robots to robot menu

    • Removed

      • Grid Room from menu to match documentation

    • Changed

      • Modifies robot menu to have multiple submenus based on robot type

      • Aligns robot menu ordering with documentation

      • Adds original Franka to robot asset menu

      • Renames Franka -> Franka (alt. fingers)

      • Moves Ant to Quadruped menu

      • Adds Black Grid and Curved Grid menu options.

    • Fixed

      • some naming to match documentation

      • Generation of April Tag

  • omni.isaac.nucleus

    • Changed

      • Updated to 4.2 asset path

  • omni.isaac.occupancy_map

    • Fixed

      • Prevent cell size being less than or equal to 0 by showing a warning message and using a default value

  • omni.isaac.occupancy_map.ui

    • Changed

      • Limit Cell Size slider’s minimum value to avoid it begin less than or equal to 0

  • omni.isaac.physics_inspector

    • Deprecated

      • Add Deprecation Warning

  • omni.isaac.quadruped

    • Added

      • RL policy based robot simulation for anymal and spot quadruped

  • omni.isaac.range_sensor

    • Fixed

      • Fix deprecation warning and use Semantics instead of pxr.Semantics

  • omni.isaac.range_sensor.examples

    • Fixed

      • Disables “Load Lidar” button in Lidar example while stage is clearing

  • omni.isaac.ros2_bridge

    • Added

      • New iw.hub warehouse navigation sample for Foxy and Humble

    • Changed

      • Update nv_ros2 dependency for Foxy, Humble on Linux and Humble only on Windows with upgraded sqlite 3.46.1 package

    • Fixed

      • ROS2 image publisher threading crash fixed.

      • Update nv_ros2 dependency for Humble on Linux to support the new NITROS Bridge message definition

      • ROS2 QoS Profile node issue where preset profiles are sometimes not saved.

      • ROS2 Camera graph uses ROS2CameraInfoHelper instead of ROS2CameraHelper.

      • ROS2CameraInfoHelper correctly allocates camera_info publishers in between simulation runs.

      • ROS2CameraInfoHelper publishes correct frame ID.

      • CameraInfo messages now have distortion coefficients forcibly set to [0,0,0,0,0] if the user sets distortion model as “plumb_bob”, regardless of distortion coefficient values set in camera prim.

      • Warnings when extension was shutdown

  • omni.isaac.sensor

    • Added

      • Adds Owl to Create->Sensor menu.

      • Added Gemini 335, 335L to the menu

      • New command “IsaacSensorCreateRtxIDS” to support occupancy sim extension

    • Removed

      • CameraView methods: set_frequency, get_frequency, set_dt, get_dt, get_data (Currently the CameraView class follows the global rendering_dt)

    • Changed

      • CameraView class to use the tiled RTX sensor instead of the single raycast Tiled Sensor

      • Changed default output annotators to rgb and depth

      • Updated Gemini 2 usd file path

    • Fixed

      • Add omni.sensors.tiled as a dependency

      • Corrects prim path for Sensing SG2-AR0233C-5200-G2A-H100F1A

      • Making auto-add contact report API when creating a sensor

      • Corrects path manipulations when building menu.

      • Sensing RGBD sensor names in Create -> Isaac menu now match USD filenames.

      • Create -> Isaac -> Sensor -> RTX Lidar options now spawn USD sample asset rather than bare prim, if one exists

      • Disables per-view TLAS so that individual RTX sensors return separate point clouds

  • omni.isaac.synthetic_recorder

    • Fixed

      • Fix deprecation warning and use Semantics instead of pxr.Semantics

  • omni.isaac.tf_viewer

    • Fixed

      • Fix the checked status of the menu when the window is closed by using omni.kit.menu helper

  • omni.replicator.isaac

    • Fixed

      • PoseWriter render product names changes fix

      • DOPE writer numpy deprecation fix: np.float –> np.float64

      • PoseWriter dope format output fix to match DOPE writer (label –> class, projected cuboid order fix)

Previous Releases