| Changelog |
| --------- |
|
|
| 1.1.3 (2026-06-12) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed PhysX scene-data rigid-body view discovery to ignore USD joint prims |
| even when an asset authors ``RigidBodyAPI`` on them. |
|
|
|
|
| 1.1.2 (2026-06-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Isaac RTX package resolution so ``isaaclab_ppisp`` is only required when camera ``isp_cfg`` is set. |
|
|
|
|
| 1.1.1 (2026-06-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Reduced Fabric topology rebuild logging to debug level when tiled camera |
| visualizer updates refresh view mappings. |
| * Bumped the ``newton[sim]`` pin used by the optional ``[newton]`` extra from ``v1.2.0`` to ``v1.2.1rc2``. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed excessive PhysX tensor warnings from Ant tasks with ``JointWrenchSensor`` |
| by sourcing scene-data transforms for articulation links from Isaac Lab |
| articulation views instead of a global PhysX rigid-body view. |
|
|
|
|
| 1.1.0 (2026-06-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added an HDR output (:attr:`~isaaclab.renderers.RenderBufferKind.RGB_HDR`) to :class:`~isaaclab_physx.renderers.IsaacRtxRenderer`, sourced from the Replicator ``HdrColor`` annotator. |
| * Added internal :class:`~isaaclab.renderers.PpispPipeline` composition in :class:`~isaaclab_physx.renderers.IsaacRtxRenderer`: when :attr:`~isaaclab.sensors.camera.CameraCfg.isp_cfg` is set the renderer allocates its own HDR scratch buffer and dispatches the PPISP kernel into the camera's ``rgb`` / ``rgba`` output after each render. |
| * Added a :meth:`~isaaclab.renderers.BaseRenderer.prepare_cameras` override on :class:`~isaaclab_physx.renderers.IsaacRtxRenderer` that authors a neutral ``OmniRtxCameraExposureAPI_1`` schema on each camera prim so RTX-side tonemapping does not double-process the ISP output. |
| |
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab_physx.sim.views.FabricFrameView` falling back to |
| the slow USD path on every CUDA device other than ``cuda:0``. USDRT |
| ``SelectPrims`` now accepts any CUDA device index, so Fabric acceleration |
| runs on the simulation device the view was constructed with (e.g. |
| ``cuda:1``). This unblocks distributed training where each rank is |
| pinned to a non-primary GPU. |
| * Fixed :class:`~isaaclab_physx.sensors.ContactSensor`, :class:`~isaaclab_physx.sensors.Imu`, |
| :class:`~isaaclab_physx.sensors.Pva`, and :class:`~isaaclab_physx.sensors.JointWrenchSensor` |
| returning stale pre-reset data when :meth:`~isaaclab.scene.InteractiveScene.reset` was |
| called inside an environment step without a subsequent physics step (e.g. inside |
| :meth:`~isaaclab.envs.ManagerBasedRLEnv._reset_idx`). Each sensor's ``reset()`` now marks |
| the reset envs as up to date after zeroing ``_data``, so an immediate read returns those |
| zeros rather than re-fetching a physics buffer that has not been stepped since the reset. |
| * Fixed PhysX scene-data rigid-body view creation to use exact rigid-body prim |
| paths, avoiding spurious warnings for assets whose joint prims share body names. |
| * Restored wildcard PhysX scene-data rigid-body view patterns to keep Newton |
| visualizers updating live PhysX transforms. |
| * Fixed PhysX tensor imports when using wheel-installed Isaac Sim packages. |
| |
| |
| 1.0.0 (2026-05-20) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added PhysX-specific deformable property and material cfgs. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Reworded the FF-routing comments in |
| :class:`~isaaclab_physx.assets.Articulation` to refer to "actuated DOFs" |
| rather than splitting on implicit vs explicit, since the |
| ``synch_torque_and_apply_implicit_feedforwards`` kernel operates on the full |
| actuated DOF set. |
| * **Breaking:** Moved deformable body schema and material APIs from |
| :mod:`isaaclab_physx.sim` to :mod:`isaaclab.sim`, and moved deformable object |
| configuration from :mod:`isaaclab_physx.assets` to :mod:`isaaclab.assets`. |
| Import :class:`~isaaclab.sim.DeformableBodyPropertiesCfg`, |
| :func:`~isaaclab.sim.define_deformable_body_properties`, |
| :func:`~isaaclab.sim.modify_deformable_body_properties`, |
| :class:`~isaaclab.sim.DeformableObjectSpawnerCfg`, |
| :class:`~isaaclab.sim.DeformableBodyMaterialCfg`, |
| :class:`~isaaclab.sim.SurfaceDeformableBodyMaterialCfg`, and |
| :func:`~isaaclab.sim.spawn_deformable_body_material` from :mod:`isaaclab.sim` |
| instead of :mod:`isaaclab_physx.sim`; import |
| :class:`~isaaclab.assets.DeformableObjectCfg` from :mod:`isaaclab.assets` |
| instead of :mod:`isaaclab_physx.assets`. |
| * Changed PhysX deformable API documentation to direct users to the |
| backend-neutral :mod:`isaaclab.assets` and :mod:`isaaclab.sim` imports. |
| * Updated imports of :class:`~isaaclab.scene_data.SceneDataBackend` and |
| :class:`~isaaclab.scene_data.SceneDataFormat` to their new location in |
| :mod:`isaaclab.scene_data` (previously :mod:`isaaclab.physics`). |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated generic PhysX deformable cfg aliases in favor of |
| ``PhysxDeformableBodyPropertiesCfg``, ``PhysxDeformableBodyMaterialCfg``, |
| and ``PhysxSurfaceDeformableBodyMaterialCfg``. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab_physx.assets.DeformableObject` state writer methods |
| to accept ``ProxyArray`` inputs without requiring manual conversion. |
|
|
|
|
| 0.9.0 (2026-05-17) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added PhysX backend for :class:`~isaaclab.sensors.ray_caster.RayCaster` / |
| :class:`~isaaclab.sensors.ray_caster.RayCasterCamera` / |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCaster` / |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCasterCamera`. Sensor |
| body and tracked target meshes both run off ``RigidObjectView`` — |
| per-step compose via small warp kernels, no |
| :class:`~isaaclab_physx.sim.views.FabricFrameView` path. Static |
| parents/targets serve cached per-env ``wp.transformf`` arrays. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed all four ray-caster sensors (:class:`~isaaclab.sensors.ray_caster.RayCaster`, |
| :class:`~isaaclab.sensors.ray_caster.RayCasterCamera`, |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCaster`, |
| :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCasterCamera`) returning |
| their spawn-time pose forever when parented under a rigid body. Previous |
| path went through :class:`~isaaclab_physx.sim.views.FabricFrameView` |
| which regressed in #5179; the new backend reads body pose directly from |
| PhysX. The same fix applies to tracked target meshes |
| (``track_mesh_transforms=True``) parented under rigid bodies. |
| * Fixed PhysX tracked target mesh updates to write directly into Warp mesh |
| pose tables instead of staging through torch views. |
| |
| |
| 0.8.0 (2026-05-16) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Bumped the optional ``[newton]`` extra to ``v1.2.0`` (stable) so the |
| pin matches :mod:`isaaclab_newton`. |
| * Updated :class:`~isaaclab_physx.renderers.IsaacRtxRenderer` to accept |
| :class:`~isaaclab.utils.warp.ProxyArray` in :meth:`set_outputs` and :meth:`update_camera`, |
| matching the updated :class:`~isaaclab.renderers.BaseRenderer` interface. Output buffers are |
| accessed via ``.warp`` directly, avoiding intermediate :func:`warp.from_torch` conversions. |
|
|
|
|
| 0.7.1 (2026-05-15) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the acceleration-arrow debug visualizer in |
| :class:`~isaaclab_physx.sensors.pva.Pva` drawing arrows in undefined directions for |
| bodies with effectively zero acceleration. Such bodies are now skipped from the |
| visualization. |
|
|
|
|
| 0.7.0 (2026-05-14) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added PhysX implementations of |
| :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w`, |
| :attr:`~isaaclab.assets.BaseArticulationData.body_com_jacobian_w`, |
| :attr:`~isaaclab.assets.BaseArticulationData.mass_matrix`, and |
| :attr:`~isaaclab.assets.BaseArticulationData.gravity_compensation_forces` |
| on :class:`~isaaclab_physx.assets.ArticulationData`. The COM |
| variant is a passthrough to ``physx.ArticulationView.get_jacobians``; |
| the link-origin variant applies a new |
| :func:`~isaaclab_physx.assets.articulation.kernels.shift_jacobian_com_to_origin` |
| Warp kernel to convert the COM-referenced linear-velocity rows to |
| link-origin references using each body's pose and COM offset. All |
| four properties preserve the full DoF axis, including the 6 leading |
| floating-base columns/rows PhysX's raw tensor view prepends on |
| floating-base assets — matching the cross-library industry convention |
| (Pinocchio, Drake, MuJoCo, RBDL, OCS2, iDynTree) and Newton's |
| ``ArticulationView`` layout. |
| * Added :meth:`~isaaclab_physx.physics.PhysxManager.pre_render` so the |
| PhysX backend can drive |
| :meth:`~isaaclab_newton.physics.NewtonManager.update_visualization_state` |
| once per render frame when the active visualizer/renderer set requires a |
| Newton model. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Switched the Newton install spec to ``newton[sim]`` in the ``newton`` |
| extra so the MuJoCo solver dependencies are pulled in transitively. |
| Required because pip resolves a git-URL requirement once for the URL; |
| a bare ``newton @ git+...`` here would shadow the ``[sim]`` extra |
| requested elsewhere. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * **Breaking:** Removed the ``isaaclab_physx.scene_data_providers`` package |
| (``PhysxSceneDataProvider``). The Warp-native |
| :class:`~isaaclab.scene_data.SceneDataProvider` now exposes |
| PhysX rigid-body transforms via |
| :class:`~isaaclab_physx.physics.PhysxSceneDataBackend`, and the |
| PhysX→Newton state sync used by Newton visualizers/renderers moved to |
| :meth:`~isaaclab_newton.physics.NewtonManager.update_visualization_state`. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a latent correctness bug in IK / OSC controllers on the PhysX |
| backend, where the previously-exposed Jacobian was COM-referenced but |
| the controllers used :attr:`~isaaclab_physx.assets.ArticulationData.body_link_pose_w` |
| as the EE pose setpoint. The frame mismatch caused tracking error on |
| bodies whose COM offset is non-trivial. The new |
| :attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w` |
| applies the COM→origin shift so the Jacobian and pose share a |
| reference point. |
|
|
|
|
| 0.6.4 (2026-05-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed the Newton extra to depend on the packaged Newton 1.2.0 release |
| candidate instead of a Git commit. |
|
|
|
|
| 0.6.3 (2026-05-11) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Changed rigid object collection spawning to honor planned ``spawn_path`` |
| values while falling back to ``prim_path`` for direct construction. |
|
|
|
|
| 0.6.2 (2026-05-09) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab_physx.assets.Articulation` joint friction docs to distinguish legacy coefficients from |
| PhysX 5 static and dynamic friction efforts. |
| * Fixed PhysX backend tests to use current contact sensor and asset API names, |
| removing deprecation warnings from scoped test runs. |
|
|
|
|
| 0.6.1 (2026-05-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Bumped the optional ``[newton]`` extra to ``v1.2.0rc2`` so the Newton |
| scene representation built by |
| :class:`~isaaclab_physx.scene_data_providers.PhysxSceneDataProvider` |
| for the OV/Rerun/Viser visualizers stays in sync with the version |
| pinned in :mod:`isaaclab_newton` and :mod:`isaaclab_visualizers`. |
|
|
|
|
| 0.6.0 (2026-05-08) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab_physx.sensors.JointWrenchSensor` for reading PhysX |
| incoming joint reaction wrenches as split force [N] and torque [N·m] buffers. |
| The sensor accepts asset prim paths whose articulation root is nested below |
| the configured prim and converts PhysX's native body-frame wrench to the |
| shared child-side joint-frame convention. |
| * Added :class:`PhysxRigidBodyMaterialCfg`, a subclass of |
| :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg` carrying the |
| ``PhysxMaterialAPI`` schema fields (``compliant_contact_stiffness``, |
| ``compliant_contact_damping``, ``friction_combine_mode``, ``restitution_combine_mode``). |
| Use this when authoring PhysX-specific material knobs; use the base class when only the |
| UsdPhysics-standard friction/restitution fields are needed. |
| * Added :class:`PhysxCollisionPropertiesCfg`, a subclass of |
| :class:`~isaaclab.sim.schemas.CollisionBaseCfg` carrying the PhysX-specific |
| ``torsional_patch_radius`` / ``min_torsional_patch_radius`` friction approximations. |
| These fields have no Newton equivalent. |
| * Added :class:`PhysxDeformableCollisionPropertiesCfg`, renaming the previous |
| ``PhysXCollisionPropertiesCfg`` (capital X) for clarity. Used internally by |
| :class:`DeformableBodyPropertiesCfg`. |
| * Added :class:`PhysxArticulationRootPropertiesCfg`, a subclass of |
| :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg` carrying the PhysX-specific |
| ``enabled_self_collisions``, ``solver_position_iteration_count``, |
| ``solver_velocity_iteration_count``, ``sleep_threshold``, ``stabilization_threshold``. |
| * Added :class:`PhysxConvexHullPropertiesCfg`, :class:`PhysxConvexDecompositionPropertiesCfg`, |
| :class:`PhysxTriangleMeshPropertiesCfg`, |
| :class:`PhysxTriangleMeshSimplificationPropertiesCfg`, and |
| :class:`PhysxSDFMeshPropertiesCfg` -- the PhysX-cooking-specific mesh collision |
| subclasses. Each declares its own PhysxSchema cooking API via class-level |
| ``_usd_applied_schema`` metadata and inherits ``mesh_approximation_name`` from |
| :class:`~isaaclab.sim.schemas.MeshCollisionBaseCfg`. |
| * Added :class:`PhysxFixedTendonPropertiesCfg` and :class:`PhysxSpatialTendonPropertiesCfg`, |
| the relocated PhysX-only tendon cfg classes. Same fields as the legacy core-side classes; |
| no field-level split. |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Modified the isaac rtx renderer to use the new patterns from renderer/camera decoupling. |
| * **Breaking:** Removed the ``sync_usd_on_fabric_write`` keyword argument from |
| :class:`~isaaclab_physx.sim.views.FabricFrameView`. Fabric writes |
| (``set_world_poses``, ``set_scales``) now notify the renderer via |
| ``PrepareForReuse()`` on the underlying ``PrimSelection`` instead of writing |
| back to USD, which is ~200x faster and avoids the stale USD shadow state the |
| old path produced. Callers passing ``sync_usd_on_fabric_write=True`` should |
| remove the argument; if they relied on USD reflecting Fabric writes, they |
| should now read Fabric poses directly via the view's getters or refresh USD |
| explicitly. |
| * Removed the ``max_velocity`` field and USD metadata |
| (``_usd_applied_schema``, ``_usd_namespace``, ``_usd_attr_name_map``) from |
| :class:`PhysxJointDrivePropertiesCfg`. The field moved to |
| :class:`~isaaclab.sim.schemas.JointDriveBaseCfg`; ``PhysxJointDrivePropertiesCfg`` |
| inherits it. Existing instantiations continue to work unchanged. |
| * Removed the ``disable_gravity`` field from :class:`PhysxRigidBodyPropertiesCfg`. |
| The field moved to :class:`~isaaclab.sim.schemas.RigidBodyBaseCfg`; |
| ``PhysxRigidBodyPropertiesCfg`` inherits it. Existing instantiations continue |
| to work unchanged. |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated :class:`RigidBodyMaterialCfg` in favor of |
| :class:`PhysxRigidBodyMaterialCfg` (PhysX-specific) or |
| :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg` (solver-common). |
| The legacy name remains as a concrete subclass of :class:`PhysxRigidBodyMaterialCfg` |
| that emits ``DeprecationWarning`` on instantiation. Scheduled for removal in 5.0. |
| * Deprecated :class:`CollisionPropertiesCfg` in favor of |
| :class:`PhysxCollisionPropertiesCfg` (PhysX-specific) or |
| :class:`~isaaclab.sim.schemas.CollisionBaseCfg` (solver-common). The legacy name remains |
| as a concrete subclass of :class:`PhysxCollisionPropertiesCfg` that emits |
| ``DeprecationWarning`` on instantiation. Scheduled for removal in 5.0. |
| * Deprecated :class:`PhysXCollisionPropertiesCfg` (capital X, deformable-body) in favor of |
| :class:`PhysxDeformableCollisionPropertiesCfg`. The capital-X name is preserved as a |
| deprecation alias (concrete subclass) and is scheduled for removal in 5.0. |
| * Deprecated :class:`ArticulationRootPropertiesCfg` in favor of |
| :class:`PhysxArticulationRootPropertiesCfg` (PhysX-specific) or |
| :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg` (solver-common). The legacy name |
| remains as a concrete subclass of :class:`PhysxArticulationRootPropertiesCfg` that emits |
| ``DeprecationWarning`` on instantiation. Scheduled for removal in 5.0. |
| * Deprecated :class:`MeshCollisionPropertiesCfg`, :class:`ConvexHullPropertiesCfg`, |
| :class:`ConvexDecompositionPropertiesCfg`, :class:`TriangleMeshPropertiesCfg`, |
| :class:`TriangleMeshSimplificationPropertiesCfg`, and :class:`SDFMeshPropertiesCfg` in |
| favor of :class:`~isaaclab.sim.schemas.MeshCollisionBaseCfg` or the new ``Physx*`` |
| subclasses. Legacy names remain as concrete subclasses that emit ``DeprecationWarning`` |
| on instantiation. Scheduled for removal in 5.0. |
| * Deprecated :class:`FixedTendonPropertiesCfg` in favor of |
| :class:`PhysxFixedTendonPropertiesCfg`. Legacy name remains as a concrete subclass that |
| emits ``DeprecationWarning`` on instantiation. Scheduled for removal in 5.0. |
| * Deprecated :class:`SpatialTendonPropertiesCfg` in favor of |
| :class:`PhysxSpatialTendonPropertiesCfg`. Legacy name remains as a concrete subclass |
| that emits ``DeprecationWarning`` on instantiation. Scheduled for removal in 5.0. |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed ``ArticulationData.body_incoming_joint_wrench_b``. Add |
| :class:`~isaaclab.sensors.JointWrenchSensorCfg` to the scene and read |
| :attr:`~isaaclab.sensors.JointWrenchSensorData.force` and |
| :attr:`~isaaclab.sensors.JointWrenchSensorData.torque` instead. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed :class:`~isaaclab_physx.assets.SurfaceGripper` initialization on |
| non-CPU simulation backends to raise before loading the surface gripper |
| extension, avoiding hangs during startup. |
|
|
|
|
| 0.5.29 (2026-04-30) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Added fused :meth:`~isaaclab_physx.assets.Articulation.write_joint_state_to_sim_index` |
| that writes joint position and velocity in a single kernel launch instead of two. |
| * Cached ``.view(wp.float32)`` results in root pose/velocity writers and wrench |
| composer views in ``write_data_to_sim`` to avoid per-call wrapper allocations. |
| * Pre-allocated pinned CPU buffers for all joint property and body property writers, |
| replacing per-call ``wp.clone(device="cpu")`` allocations with ``wp.copy`` into |
| reusable pinned memory. |
| |
| |
| 0.5.28 (2026-04-29) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed camera observation hang when a visualizer (e.g. KitVisualizer for XR |
| teleop) is active and ``--enable_cameras`` is set. |
| :func:`~isaaclab_physx.renderers.isaac_rtx_renderer_utils.ensure_isaac_rtx_render_update` |
| now performs the initial ``app.update()`` on the very first call for a new |
| :class:`~isaaclab.sim.SimulationContext`, even when a visualizer reports that |
| it pumps the Kit app loop, because the visualizer has not had a chance to pump |
| yet at that point. |
|
|
|
|
| 0.5.27 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``Simulation view object is invalidated and cannot be used again to call |
| getDofVelocities`` raised on the first ``scene.update()`` after ``sim.reset()`` |
| with recent Isaac Sim ``develop`` builds. Isaac Sim's |
| ``isaacsim.core.simulation_manager.SimulationManager`` recently became reactive |
| to timeline ``STOP`` events (after its ``_on_stop`` was decorated with |
| ``@staticmethod`` upstream), and its ``invalidate_physics()`` was clobbering |
| the shared ``omni.physics.tensors`` simulation view that |
| :class:`~isaaclab_physx.physics.PhysxManager` and PhysX articulation views |
| rely on. The ``isaaclab_physx`` package init now disables the original Isaac |
| Sim ``SimulationManager``'s default timeline/stage callbacks via |
| ``enable_all_default_callbacks(False)`` before swapping the module attribute, |
| so :class:`PhysxManager` is the single owner of the simulation lifecycle. |
|
|
|
|
| 0.5.26 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``import isaaclab_physx`` eagerly importing ``isaacsim``, ``omni``, |
| and ``carb`` backend modules when used for pure-data config loading before |
| ``SimulationApp`` has launched. The ``SimulationManager`` patch now checks |
| ``sys.modules`` lazily instead of force-importing the target module, allowing |
| env-cfg classes that reference :class:`~isaaclab_physx.physics.PhysxCfg` to |
| be constructed without a running Kit instance (regression caught by |
| ``test_env_cfg_no_forbidden_imports``). |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated :func:`~isaaclab_physx.renderers.kit_viewport_utils.set_kit_renderer_camera_view` |
| off the deprecated ``isaacsim.core.utils.viewports.set_camera_view`` to |
| ``isaacsim.core.rendering_manager.ViewportManager.set_camera_view``, matching the |
| pattern used by the Kit perspective video helper. |
| |
| |
| 0.5.25 (2026-04-27) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated imports of the PhysX tensors API from ``omni.physics.tensors.impl.api`` to |
| ``omni.physics.tensors.api`` to track the upstream Isaac Sim module relocation |
| (the ``impl`` submodule was removed). |
| * Migrated the PhysX scene data provider, PhysX asset micro-benchmarks, and cross-backend asset |
| interface tests off ``isaacsim.core.simulation_manager.SimulationManager`` to |
| :class:`~isaaclab_physx.physics.PhysxManager` (imported as ``SimulationManager`` to mirror the |
| Newton backend's ``NewtonManager as SimulationManager`` convention). |
| * Updated optional-extension enablement and Kit perspective capture helpers to use non-deprecated |
| Isaac Sim module paths (``isaacsim.core.experimental.utils.app`` and ``isaacsim.core.rendering_manager``). |
|
|
|
|
| 0.5.24 (2026-04-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated :class:`~isaaclab_physx.sim.views.FabricFrameView` to match the new |
| :class:`~isaaclab.sim.views.BaseFrameView` ProxyArray return contract. See |
| the ``isaaclab`` 4.6.15 changelog for migration guidance. |
|
|
|
|
| 0.5.23 (2026-04-24) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Properties on the following data classes now return |
| :class:`~isaaclab.utils.warp.ProxyArray` instead of raw ``wp.array``: |
| :class:`~isaaclab_physx.assets.articulation.ArticulationData`, |
| :class:`~isaaclab_physx.assets.rigid_object.RigidObjectData`, |
| :class:`~isaaclab_physx.assets.rigid_object_collection.RigidObjectCollectionData`, |
| :class:`~isaaclab_physx.assets.deformable_object.DeformableObjectData`, |
| :class:`~isaaclab_physx.sensors.contact_sensor.ContactSensorData`, |
| :class:`~isaaclab_physx.sensors.frame_transformer.FrameTransformerData`, |
| :class:`~isaaclab_physx.sensors.imu.ImuData`, and |
| :class:`~isaaclab_physx.sensors.pva.PvaData`. |
| Use ``.torch`` for a cached zero-copy ``torch.Tensor`` view, or ``.warp`` for |
| the underlying ``wp.array``. Implicit torch operations (arithmetic, |
| ``torch.*`` functions) work during the deprecation period but emit a warning. |
|
|
|
|
| 0.5.22 (2026-04-23) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``RuntimeError: NewtonWarpRenderer requires a Newton model but the scene data provider |
| returned None`` when a Direct env (e.g. ``ShadowHandVisionEnv``, ``CartpoleCameraEnv``) |
| uses ``physx`` physics with the ``newton_warp`` renderer. The |
| :class:`~isaaclab_physx.scene_data_providers.PhysxSceneDataProvider` now falls back to a |
| USD-traversal Newton build when the cloner-time prebuilt artifact is absent, and stashes |
| the freshly built artifact on the simulation context so subsequent providers reuse it. |
|
|
|
|
| 0.5.21 (2026-04-22) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab_physx.sim.views.XformPrimView` providing the PhysX/Fabric |
| backend implementation for xform prim views. |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed :class:`~isaaclab_physx.sim.views.FabricXformPrimView` to |
| :class:`~isaaclab_physx.sim.views.FabricFrameView`. Old name is kept as a deprecated alias. |
|
|
|
|
| 0.5.20 (2026-04-21) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated ``write_data_to_sim`` in :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, and :class:`~isaaclab_physx.assets.RigidObjectCollection` |
| to use the dual-buffer :class:`~isaaclab.utils.wrench_composer.WrenchComposer`. Composed wrenches are |
| applied to PhysX with ``is_global=False`` after body-frame composition. |
| |
| |
| 0.5.19 (2026-04-20) |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed Newton ``shape_color`` not reflecting the post-clone USD stage when the |
| PhysX scene data provider builds or reloads the Newton model by calling |
| :func:`~isaaclab.sim.utils.newton_model_utils.replace_newton_shape_colors` on |
| the artifact, per-environment, and filtered Newton models in |
| :class:`~isaaclab_physx.scene_data_providers.PhysxSceneDataProvider`. |
|
|
| 0.5.18 (2026-04-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed flaky first-frame textured rendering by replacing the event-based RTX |
| streaming subscription with a synchronous |
| ``UsdContext.get_stage_streaming_status()`` query in |
| :func:`~isaaclab_physx.renderers.isaac_rtx_renderer_utils.ensure_isaac_rtx_render_update`. |
|
|
|
|
| 0.5.17 (2026-04-14) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab_physx.sim.schemas.DeformableBodyPropertiesCfg` with |
| namespace-aware property routing. Properties are organized into |
| ``omniphysics:``, ``physxDeformableBody:``, and ``physxCollision:`` prefixed |
| parent classes, allowing correct USD attribute mapping for the updated PhysX |
| deformable body schema. |
| * Added :func:`~isaaclab_physx.sim.schemas.define_deformable_body_properties` and |
| :func:`~isaaclab_physx.sim.schemas.modify_deformable_body_properties` to |
| ``isaaclab_physx.sim.schemas``, supporting both surface and volume deformable |
| types via the ``deformable_type`` parameter. |
| * Added :class:`~isaaclab_physx.sim.spawners.materials.DeformableBodyMaterialCfg` |
| and :class:`~isaaclab_physx.sim.spawners.materials.SurfaceDeformableBodyMaterialCfg` |
| with namespace-aware property routing for ``omniphysics:`` and |
| ``physxDeformableBody:`` material attributes. |
| * Added :class:`~isaaclab_physx.sim.spawners.spawner_cfg.DeformableObjectSpawnerCfg` |
| for configuring deformable body properties and materials when spawning. |
| * Added surface deformable body support to |
| :class:`~isaaclab_physx.assets.DeformableObject`. The asset now detects whether |
| the deformable is a surface or volume type based on the applied material API |
| and creates the appropriate PhysX tensor view |
| (``create_surface_deformable_body_view`` vs ``create_volume_deformable_body_view``). |
| |
| Changed |
| ^^^^^^^ |
|
|
| * Changed :attr:`~isaaclab_physx.assets.DeformableObject.root_view` return type |
| from ``physx.SoftBodyView`` to ``physx.DeformableBodyView`` to align with the |
| updated PhysX API. |
| * Changed :attr:`~isaaclab_physx.assets.DeformableObject.material_physx_view` |
| return type from ``physx.SoftBodyMaterialView`` to |
| ``physx.DeformableMaterialView``. |
| * Changed deformable body root prim discovery to check for |
| ``OmniPhysicsDeformableBodyAPI`` instead of ``PhysxDeformableBodyAPI``. |
| * Changed material prim discovery to check for ``OmniPhysicsDeformableMaterialAPI`` |
| instead of ``PhysxDeformableBodyMaterialAPI``. |
| * Changed PhysX view API calls to use updated method names: |
| ``get_simulation_nodal_positions``, ``set_simulation_nodal_positions``, |
| ``set_simulation_nodal_velocities``, ``get_simulation_nodal_kinematic_targets``, |
| ``set_simulation_nodal_kinematic_targets``. |
| * Changed property accessors to use updated PhysX view attributes: |
| ``max_simulation_elements_per_body``, ``max_collision_elements_per_body``, |
| ``max_simulation_nodes_per_body``, ``max_collision_nodes_per_body``. |
| * Changed kinematic target operations to raise ``ValueError`` when called on |
| surface deformable bodies, which do not support kinematic targets. |
| |
| |
| 0.5.16 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Renamed the PhysX IMU sensor implementation to |
| :class:`~isaaclab_physx.sensors.Pva`. The ``isaaclab_physx.sensors.imu`` |
| module now contains a new lightweight IMU sensor that only provides angular |
| velocity and linear acceleration. |
| * Changed :class:`~isaaclab_physx.sensors.Pva` to no longer accept a |
| ``gravity_bias`` parameter. Linear acceleration is now pure finite |
| differencing of velocity without any gravity contribution. |
| * Changed :class:`~isaaclab_physx.sensors.Imu` to unconditionally include |
| gravity in accelerometer readings. The gravity vector is queried from the |
| PhysX simulation at initialization instead of being user-configured. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab_physx.sensors.Imu` PhysX backend for the new |
| lightweight IMU sensor with simplified Warp kernels that only compute |
| angular velocity and linear acceleration. |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed unused ``body_pos`` variable in the IMU Warp kernel. |
| * Fixed ``phsyx`` typo in :class:`~isaaclab.sensors.pva.BasePva` docstring. |
|
|
|
|
| 0.5.15 (2026-04-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :meth:`~isaaclab_physx.assets.RigidObject.set_material_properties_index`, |
| :meth:`~isaaclab_physx.assets.RigidObject.set_material_properties_mask`, |
| :meth:`~isaaclab_physx.assets.Articulation.set_material_properties_index`, |
| :meth:`~isaaclab_physx.assets.Articulation.set_material_properties_mask`, |
| :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_material_properties_index`, and |
| :meth:`~isaaclab_physx.assets.RigidObjectCollection.set_material_properties_mask` |
| methods for setting collision shape material properties (friction, restitution). |
| These methods follow the standard ``_index``/``_mask`` pattern, providing a unified |
| API across PhysX and Newton backends. |
| |
| |
| 0.5.14 (2026-04-06) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed the simulation training loop not pausing when the Kit GUI timeline is |
| paused. :meth:`~isaaclab_physx.physics.PhysxManager.wait_for_playing` now |
| blocks and keeps the GUI responsive until the timeline is resumed or stopped. |
| * Fixed articulation visualization freezing after pausing and unpausing the |
| simulation through the headed GUI in Isaac Sim 5.1+. Articulation meshes now |
| remain visually updated after resuming. |
|
|
|
|
| 0.5.13 (2026-03-25) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed device mismatch in :meth:`~isaaclab_physx.assets.RigidObjectCollection.reshape_view_to_data_2d` |
| and :meth:`~isaaclab_physx.assets.RigidObjectCollection.reshape_view_to_data_3d` that caused |
| ``wp.clone`` to fail with CUDA errors when PhysX returns data on CPU (e.g., masses, COMs, inertias) |
| while the simulation runs on GPU. The strided view now correctly uses ``data.device`` instead of |
| ``self.device``, matching the fix already present in :class:`~isaaclab_physx.assets.RigidObjectCollectionData`. |
|
|
|
|
| 0.5.12 (2026-03-16) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed ``test_body_incoming_joint_wrench_b_single_joint`` computing the expected |
| wrench in the parent body's frame instead of the child body's frame. The expected |
| wrench is now expressed in |
| :attr:`~isaaclab_physx.assets.ArticulationData.body_incoming_joint_wrench_b`'s |
| actual convention (child body frame) and body indices are resolved by name to be |
| robust across backends. Also corrected the docstring for |
| :attr:`~isaaclab_physx.assets.ArticulationData.body_incoming_joint_wrench_b` to |
| accurately describe the frame convention. |
|
|
|
|
| 0.5.11 (2026-03-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed articulation root prim discovery failing when the |
| ``physxArticulation:articulationEnabled`` attribute is not authored on the |
| USD prim. The predicate now treats an unset attribute as enabled (the PhysX |
| default) instead of rejecting the prim. |
|
|
|
|
| 0.5.10 (2026-03-13) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Removed verbose ``logger.info`` calls from |
| :class:`~isaaclab_physx.assets.RigidObject` and |
| :class:`~isaaclab_physx.assets.Articulation` initialization that logged body |
| names, joint names, and instance counts. Articulation joint parameter tables and |
| actuator group summaries are retained. |
|
|
|
|
| 0.5.9 (2026-03-11) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed device mismatch in |
| :class:`~isaaclab_physx.assets.RigidObjectCollectionData` where |
| ``_reshape_view_to_data_2d`` and ``_reshape_view_to_data_3d`` created |
| strided pointer views with the target GPU device instead of the source |
| array's device. PhysX returns masses, COMs, and inertias on CPU, so the |
| strided view incorrectly claimed a CPU pointer lived on GPU. This caused |
| ``CUDA error 1: invalid argument`` during ``wp.clone`` on GPUs without |
| HMM (Heterogeneous Memory Management). |
|
|
|
|
| 0.5.8 (2026-03-10) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Removed redundant ``ArticulationView`` from |
| :class:`~isaaclab_physx.scene_data_providers.PhysxSceneDataProvider`. |
| Creating a single ``ArticulationView`` for heterogeneous articulation types |
| (e.g. Robot + Cabinet) triggered PhysX "Incorrect DofIdx" errors. The |
| ``RigidBodyView`` already covers all body transforms including articulation |
| links, so the articulation view was unnecessary. Articulation paths from |
| prebuilt artifacts are now merged into rigid body paths for the |
| ``RigidBodyView``. |
| * Fixed pre-existing test fixture in |
| ``test_physx_scene_data_provider_visualizer_contract.py`` where |
| ``_make_provider()`` was missing the |
| ``_force_usd_fallback_for_newton_model_build`` attribute and the force |
| fallback test used an incorrect attribute name. |
|
|
|
|
| 0.5.7 (2026-03-06) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Made several PhysX articulation tests more backend-agnostic by relaxing |
| PhysX-specific assumptions in ``test_articulation.py``. |
|
|
|
|
| 0.5.6 (2026-03-03) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fix asset writer methods in :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, and |
| :class:`~isaaclab_physx.assets.RigidObjectCollection` to use public data |
| properties instead of internal timestamped buffer ``.data`` fields, removing |
| redundant manual timestamp updates. |
|
|
|
|
| 0.5.5 (2026-03-02) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Replaced all ``wp.nonzero()`` calls in |
| :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, and |
| :class:`~isaaclab_physx.assets.RigidObjectCollection` mask methods with |
| ``torch.nonzero()`` via new ``_resolve_env_mask``, ``_resolve_body_mask``, |
| ``_resolve_joint_mask``, ``_resolve_fixed_tendon_mask``, and |
| ``_resolve_spatial_tendon_mask`` helpers, fixing mask-based writers that previously |
| raised errors at runtime. |
|
|
| * Fixed device mismatch in ``RigidObjectCollection._env_body_ids_to_view_ids`` where GPU |
| index arrays were passed to a CPU kernel launch. Inputs are now cloned to the target |
| device before use. |
|
|
| * Added ``_get_cpu_env_ids`` helper to :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, and |
| :class:`~isaaclab_physx.assets.RigidObjectCollection` to safely clone environment |
| indices to CPU for PhysX model-property setters. |
|
|
| * Fixed ``MockArticulationViewWarp`` to support the mock test infrastructure. |
|
|
|
|
| 0.5.4 (2026-03-01) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * fixed :func:`~isaaclab_physx.cloner.physx_replicate` to not exclude self replication by default. |
|
|
|
|
| 0.5.3 (2026-02-27) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added runtime shape and dtype validation to all write methods in |
| :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, |
| :class:`~isaaclab_physx.assets.RigidObjectCollection`, |
| :class:`~isaaclab_physx.assets.DeformableObject`, and |
| :class:`~isaaclab_physx.assets.SurfaceGripper` using |
| :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype`. Validates input dimensions |
| and types before kernel launch to catch mismatches early. |
|
|
|
|
| 0.5.2 (2026-02-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added runtime shape and dtype validation to all write methods in |
| :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, |
| :class:`~isaaclab_physx.assets.RigidObjectCollection`, |
| :class:`~isaaclab_physx.assets.DeformableObject`, and |
| :class:`~isaaclab_physx.assets.SurfaceGripper` using |
| :meth:`~isaaclab.assets.AssetBase.assert_shape_and_dtype`. Validates input dimensions |
| and types before kernel launch to catch mismatches early. |
|
|
|
|
| 0.5.1 (2026-02-25) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated ContactSensor ``body_names`` property to use ``num_sensors`` instead of |
| deprecated ``num_bodies``. |
|
|
|
|
| 0.5.0 (2026-02-24) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Aligned asset API with the multi-backend architecture. Base class abstract methods |
| in :class:`~isaaclab.assets.BaseArticulation` and :class:`~isaaclab.assets.BaseRigidObject` |
| have been refined so that PhysX and Newton backends share a consistent interface. |
|
|
| * Improved docstrings across all asset classes with precise shape and dtype annotations |
| for warp array properties and write methods. |
|
|
| * Migrated tests to use the new ``_index`` / ``_mask`` write method APIs, removing |
| usage of deprecated write methods. |
|
|
|
|
| 0.4.1 (2026-02-18) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Fixed |
| ^^^^^ |
|
|
| * Fixed a bug in :meth:~isaaclab_physx.assets.Articulation.process_actuators_cfg where explicit actuator joints could receive non-zero PhysX stiffness/damping, causing double PD control. |
|
|
|
|
| 0.4.0 (2026-02-13) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Migrated all PhysX asset classes to warp backend: |
| :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, |
| :class:`~isaaclab_physx.assets.RigidObjectCollection`, |
| :class:`~isaaclab_physx.assets.DeformableObject`, and |
| :class:`~isaaclab_physx.assets.SurfaceGripper`. |
| Internal state buffers now use ``wp.array`` with structured warp types |
| (``wp.vec3f``, ``wp.quatf``, ``wp.transformf``, ``wp.spatial_vectorf``). |
|
|
| * Migrated all PhysX sensor classes to warp backend: |
| :class:`~isaaclab_physx.sensors.ContactSensor`, |
| :class:`~isaaclab_physx.sensors.Imu`, and |
| :class:`~isaaclab_physx.sensors.FrameTransformer`. |
|
|
| * Split all write methods into ``_index`` and ``_mask`` variants for explicit |
| sparse-index vs. boolean-mask semantics. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added warp kernel modules for fused GPU computations: |
|
|
| * :mod:`isaaclab_physx.assets.kernels` — shared kernels for root state extraction, |
| velocity transforms, and data write-back. |
| * :mod:`isaaclab_physx.assets.articulation.kernels` — articulation-specific kernels |
| for joint state, body properties, and COM computations. |
| * :mod:`isaaclab_physx.assets.deformable_object.kernels` — nodal state and mean |
| vertex computations. |
| * :mod:`isaaclab_physx.assets.rigid_object_collection.kernels` — 2D indexed kernels |
| for multi-body collections. |
| * :mod:`isaaclab_physx.sensors.contact_sensor.kernels` — contact force aggregation |
| and history buffer management. |
| * :mod:`isaaclab_physx.sensors.imu.kernels` — fused IMU update combining acceleration, |
| gyroscope, and gravity projection. |
| * :mod:`isaaclab_physx.sensors.frame_transformer.kernels` — frame transform computations. |
|
|
| * Added warp-based mock PhysX views for unit testing: |
| ``MockArticulationViewWarp``, ``MockRigidBodyViewWarp``, ``MockRigidContactViewWarp``. |
|
|
|
|
| 0.3.0 (2026-02-11) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Refactored :class:`~isaaclab_physx.physics.PhysxManager` to properly handle physics initialization |
| order. ``attach_stage()`` is now called before ``start_simulation()`` to ensure GPU buffers are |
| correctly allocated. |
| * Removed ``device`` field from :class:`~isaaclab_physx.physics.PhysxManagerCfg`. Device is now |
| inherited from :attr:`SimulationCfg.device`. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :class:`~isaaclab_physx.physics.PhysxManager` as the concrete PhysX backend implementation |
| of :class:`~isaaclab.physics.PhysicsManager`. |
| * Added :class:`~isaaclab_physx.physics.IsaacEvents` enum for PhysX-specific simulation events. |
| * Added monkey-patching of ``isaacsim.core.simulation_manager.SimulationManager`` in package init |
| to ensure Isaac Sim uses :class:`~isaaclab_physx.physics.PhysxManager` for callback handling. |
|
|
|
|
| 0.2.0 (2026-02-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Changed |
| ^^^^^^^ |
|
|
| * Updated all PhysX benchmarks in :mod:`isaaclab_physx.benchmark` to use the new |
| :class:`~isaaclab.test.benchmark.BaseIsaacLabBenchmark` framework from ``isaaclab.test.benchmark``. |
|
|
| * Added support for configurable output backends via ``--benchmark_backend`` argument. |
| Supported backends: ``json``, ``osmo``, ``omniperf``. |
|
|
|
|
| 0.1.4 (2026-02-05) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Removed |
| ^^^^^^^ |
|
|
| * Removed all the deprecated properties and shorthands in the assets. They now live in the base classes. |
|
|
|
|
| 0.1.3 (2026-02-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab_physx.benchmark` module containing performance micro-benchmarks for |
| PhysX asset classes. Includes: |
|
|
| * ``benchmark_articulation.py``: Benchmarks for setter/writer methods on |
| :class:`~isaaclab_physx.assets.Articulation` including root state, joint state, |
| joint parameters, and body property operations. |
| * ``benchmark_articulation_data.py``: Benchmarks for property accessors on |
| :class:`~isaaclab_physx.assets.ArticulationData` covering root link/COM properties, |
| joint properties, and body link/COM properties. |
| * ``benchmark_rigid_object.py``: Benchmarks for setter/writer methods on |
| :class:`~isaaclab_physx.assets.RigidObject` including root state and body property operations. |
| * ``benchmark_rigid_object_data.py``: Benchmarks for property accessors on |
| :class:`~isaaclab_physx.assets.RigidObjectData`. |
| * ``benchmark_rigid_object_collection.py``: Benchmarks for setter/writer methods on |
| :class:`~isaaclab_physx.assets.RigidObjectCollection` including body state, pose, |
| velocity, and property operations. |
| * ``benchmark_rigid_object_collection_data.py``: Benchmarks for property accessors on |
| :class:`~isaaclab_physx.assets.RigidObjectCollectionData`. |
|
|
| All benchmarks support configurable iterations, warmup steps, instance counts, multiple |
| input modes (torch list, torch tensor), and output to JSON/CSV formats with hardware |
| information capture. |
|
|
|
|
| 0.1.2 (2026-02-03) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab_physx.test.mock_interfaces` module providing mock PhysX view implementations |
| for unit testing without requiring Isaac Sim. Includes: |
|
|
| * :class:`MockRigidBodyView`: Mock for ``physx.RigidBodyView`` with transforms, velocities, |
| accelerations, and mass properties. |
| * :class:`MockArticulationView`: Mock for ``physx.ArticulationView`` with root/link states, |
| DOF properties, and joint control. |
| * :class:`MockRigidContactView`: Mock for ``physx.RigidContactView`` with contact forces, |
| positions, normals, and friction data. |
| * Factory functions including pre-configured quadruped and humanoid views. |
| * Patching utilities and decorators for easy test injection. |
|
|
|
|
| 0.1.0 (2026-01-28) |
| ~~~~~~~~~~~~~~~~~~ |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab_physx.sensors` module containing PhysX-specific sensor implementations: |
|
|
| * :class:`~isaaclab_physx.sensors.ContactSensor` and :class:`~isaaclab_physx.sensors.ContactSensorData`: |
| PhysX-specific implementation for contact force sensing. Extends |
| :class:`~isaaclab.sensors.contact_sensor.BaseContactSensor` with PhysX tensor API for contact |
| force queries, contact filtering, and contact point tracking. |
|
|
| * :class:`~isaaclab_physx.sensors.Imu` and :class:`~isaaclab_physx.sensors.ImuData`: |
| PhysX-specific implementation for inertial measurement unit simulation. Extends |
| :class:`~isaaclab.sensors.imu.BaseImu` with PhysX rigid body views for velocity and |
| acceleration computation. |
|
|
| * :class:`~isaaclab_physx.sensors.FrameTransformer` and :class:`~isaaclab_physx.sensors.FrameTransformerData`: |
| PhysX-specific implementation for coordinate frame transformations. Extends |
| :class:`~isaaclab.sensors.frame_transformer.BaseFrameTransformer` with PhysX rigid body views |
| for efficient frame pose queries. |
|
|
| * Added PhysX-specific sensor tests moved from ``isaaclab/test/sensors/``: |
|
|
| * ``test_contact_sensor.py`` |
| * ``test_imu.py`` |
| * ``test_frame_transformer.py`` |
| * ``check_contact_sensor.py`` |
| * ``check_imu_sensor.py`` |
|
|
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the ``pose_w``, ``pos_w``, and ``quat_w`` properties on |
| :class:`~isaaclab_physx.sensors.ContactSensorData` and :class:`~isaaclab_physx.sensors.ImuData`. |
| These properties will be removed in a future release. Please use a dedicated sensor (e.g., |
| :class:`~isaaclab.sensors.FrameTransformer`) to measure sensor poses in world frame. |
|
|
|
|
| 0.1.0 (2026-01-28) |
| ~~~~~~~~~~~~~~~~~~~ |
|
|
| This is the initial release of the ``isaaclab_physx`` extension, which provides PhysX-specific |
| implementations of Isaac Lab asset classes. This extension enables a multi-backend architecture |
| where simulation backend-specific code is separated from the core Isaac Lab API. |
|
|
| Added |
| ^^^^^ |
|
|
| * Added :mod:`isaaclab_physx.assets` module containing PhysX-specific asset implementations: |
|
|
| * :class:`~isaaclab_physx.assets.Articulation` and :class:`~isaaclab_physx.assets.ArticulationData`: |
| PhysX-specific implementation for articulated rigid body systems (e.g., robots). Extends |
| :class:`~isaaclab.assets.BaseArticulation` with PhysX tensor API integration for efficient |
| GPU-accelerated simulation of multi-joint systems. |
|
|
| * :class:`~isaaclab_physx.assets.RigidObject` and :class:`~isaaclab_physx.assets.RigidObjectData`: |
| PhysX-specific implementation for single rigid body assets. Extends |
| :class:`~isaaclab.assets.BaseRigidObject` with PhysX tensor API for efficient rigid body |
| state queries and writes. |
|
|
| * :class:`~isaaclab_physx.assets.RigidObjectCollection` and :class:`~isaaclab_physx.assets.RigidObjectCollectionData`: |
| PhysX-specific implementation for collections of rigid objects. Extends |
| :class:`~isaaclab.assets.BaseRigidObjectCollection` with batched ``(env_ids, object_ids)`` |
| API for efficient multi-object state management. |
|
|
| * :class:`~isaaclab_physx.assets.DeformableObject`, :class:`~isaaclab_physx.assets.DeformableObjectCfg`, |
| and :class:`~isaaclab_physx.assets.DeformableObjectData`: PhysX-specific implementation for |
| soft body simulation using finite element methods (FEM). Moved from ``isaaclab.assets``. |
|
|
| * :class:`~isaaclab_physx.assets.SurfaceGripper` and :class:`~isaaclab_physx.assets.SurfaceGripperCfg`: |
| PhysX-specific implementation for surface gripper simulation using contact APIs. Moved from |
| ``isaaclab.assets``. |
|
|
| * Added backward-compatible wrapper methods in :class:`~isaaclab_physx.assets.RigidObjectCollection` |
| and :class:`~isaaclab_physx.assets.RigidObjectCollectionData` that delegate to the new |
| ``body_*`` naming convention. |
| |
| Deprecated |
| ^^^^^^^^^^ |
|
|
| * Deprecated the ``root_physx_view`` property on :class:`~isaaclab_physx.assets.Articulation`, |
| :class:`~isaaclab_physx.assets.RigidObject`, :class:`~isaaclab_physx.assets.RigidObjectCollection`, |
| and :class:`~isaaclab_physx.assets.DeformableObject` in favor of the ``root_view`` property. |
| The ``root_physx_view`` property will be removed in a future release. |
| |
| * Deprecated the ``object_*`` naming convention in :class:`~isaaclab_physx.assets.RigidObjectCollection` |
| and :class:`~isaaclab_physx.assets.RigidObjectCollectionData` in favor of ``body_*``. The following |
| methods and properties are deprecated and will be removed in a future release: |
| |
| **RigidObjectCollection methods:** |
|
|
| * ``write_object_state_to_sim()`` → use ``write_body_state_to_sim()`` |
| * ``write_object_link_state_to_sim()`` → use ``write_body_link_state_to_sim()`` |
| * ``write_object_pose_to_sim()`` → use ``write_body_pose_to_sim()`` |
| * ``write_object_link_pose_to_sim()`` → use ``write_body_link_pose_to_sim()`` |
| * ``write_object_com_pose_to_sim()`` → use ``write_body_com_pose_to_sim()`` |
| * ``write_object_velocity_to_sim()`` → use ``write_body_com_velocity_to_sim()`` |
| * ``write_object_com_velocity_to_sim()`` → use ``write_body_com_velocity_to_sim()`` |
| * ``write_object_link_velocity_to_sim()`` → use ``write_body_link_velocity_to_sim()`` |
| * ``find_objects()`` → use ``find_bodies()`` |
|
|
| **RigidObjectCollectionData properties:** |
|
|
| * ``default_object_state`` → use ``default_body_state`` |
| * ``object_names`` → use ``body_names`` |
| * ``object_link_pose_w`` → use ``body_link_pose_w`` |
| * ``object_link_vel_w`` → use ``body_link_vel_w`` |
| * ``object_com_pose_w`` → use ``body_com_pose_w`` |
| * ``object_com_vel_w`` → use ``body_com_vel_w`` |
| * ``object_state_w`` → use ``body_state_w`` |
| * ``object_link_state_w`` → use ``body_link_state_w`` |
| * ``object_com_state_w`` → use ``body_com_state_w`` |
| * ``object_com_acc_w`` → use ``body_com_acc_w`` |
| * ``object_pose_w`` → use ``body_pose_w`` |
| * ``object_pos_w`` → use ``body_pos_w`` |
| * ``object_quat_w`` → use ``body_quat_w`` |
| * ``object_vel_w`` → use ``body_vel_w`` |
| * ``object_lin_vel_w`` → use ``body_lin_vel_w`` |
| * ``object_ang_vel_w`` → use ``body_ang_vel_w`` |
| * ``object_acc_w`` → use ``body_acc_w`` |
| * And all other ``object_*`` properties (see :ref:`migrating-to-isaaclab-3-0` for complete list). |
|
|
| Migration |
| ^^^^^^^^^ |
|
|
| * See :ref:`migrating-to-isaaclab-3-0` for detailed migration instructions. |
|
|
