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.