Release Notes
Release timeline for the Wandelbots Isaac Sim Extension.
2026
2.50.0Latest
June 23, 2026
Includes 2.46.0 – 2.50.0 (11 versions)
Features
- Convert selected poses to ghost objects
- Add collider presets and management overview for NOVA export
- Improve trajectory planner with loading and import functionality and colored velocity spectrum
- Added motion group mounting assistant
- Add capability to export diagnose package
Bug Fixes
- External joint stream expects sdf path but string was passed
- Added more meaningful logs if robot connection fails
- Update broken link to the simulation section in the docs
- Remove double wandelbots registration in extension.toml
- Example folder copy path
- TCP in NOVA now uses tcp name instead of tool name; Fixed tcp selection of trajectory planner
2.45.0
June 9, 2026
Includes 2.35.0 – 2.45.0 (16 versions)
Features
- Update instances API path handling
- Update SDK version to 110.1 across build and CI configurations
- Add interactive trajectory planner
- Added tool link body assistant
- Added camera clipping checker
- Wandelbots Animation Recorder
- Added Python-SDK example for Simulation Quickstart Guide
- Add Reachability Analysis Tool
- added "Mounting in NOVA" to "create" context menu
- Insert robots models from NOVA based on instance and cell setup including tcp and mounting configurations
- Integrate kinematic gripper based on contact sensor prim
- Added support for multiple nucleus api tokens via api (api is no longer experimental)
Bug Fixes
- Typo in tasks json for windows build
- Fixed connection loss when jogging in robot pad stopped
- fixed trajectory viewer overlay for multiple robots
- Fixed authentication.toml and repository property generation
- Fix publishing python client to pypi with twine
2.34.5
May 6, 2026
Includes 2.34.4 – 2.34.5 (2 versions)
Bug Fixes
- Fix import of robot schema utils
- Fixed version range for usd schema 1.1.6 and imports which fail with kit sdk v110
2.34.3
April 13, 2026
Includes 2.27.0 – 2.34.3 (21 versions)
Features
- Added option to select joint configuration on joint_p2p
- Added experimental robot overlay provider + endpoint. Motion planning failures will render the overlay
- Multiple robots support for TrajectoryViewer class
- Added display of stage defined motion groups which are not connected, connect suggestion and fixed connection update
- new create context menu entry for downloading robot assets from nova instance and inserting it into the scene
- Add isaaclab starter kit example
- Added additional motion group link colliders to nova collision export
- added support for external axes for robots
Bug Fixes
- Return version as a Version object in fetch_instance_version method
- Handle 401 errors in Bus IO stream connection and refresh auth token
- Fixed npm api client axios version
- Convert sweep collider objects to dict (example)
- Fixed path of openapi json page
- Added host valdiation in MotionStreamConfiguration data model
- Convert integer values to string for Bus IO input and output handling
- autoapply robot schema if not yet existing
- GhostTeaching overlay error when color is empty
- implemented check for joint type and scaling for prismatic joint type
- Remove TCP parameter from trajectory viewer api
- Update base URL construction in authentication to use removeprefix method
- clear articulation cache on simulation stop
- Removed 106.5/4.5 support and fixed version bump
- Updated release process
- Updated semantic release
2.26.1
February 23, 2026
Bug Fixes
- added toggle switch to multiple motion group controllers in connected instance tab
2.26.0
February 23, 2026
Includes 2.20.0 – 2.26.0 (11 versions)
Features
- Create isaac sim tcp from NOVA tcp
- Implement OAuth2 authentication capability with device code flow support
- Render collision scene
- Update API title and description for the Wandelbots NOVA - Isaac Sim Extension
- Add functionality to follow ghost object while placement
- Ghost teaching overlay
Refactors
- Refactor validate_request function to streamline authentication handling
Bug Fixes
- Enhance GhostTeachingFollowService stability and error handling
- Add wandelbots module to config
- relative path definition for ghost material
- Update wandelbots-api-client dependency to 25.10.0
- Fetch number of vertices per mesh face before creating mesh
2.19.1
January 19, 2026
Includes 2.15.6 – 2.19.1 (16 versions)
Features
- Added multi tcp ghost object creation support
- Add indicator that connected instances window is opened
- Added user agent and versions to http requests
- Added support to select auth provider if multiple configure and some qol changes
Bug Fixes
- Update location for openapi.json
- Update the value type casting of bus io values
- upgrade trajectory viewer to api version v2, implemented tcp_offset property
- set_default_mode used wrong api client enum
- OGN nodes do not query disabled motion groups. Added enable toggle in connector
- Removed conveyor dependency
- Fixed update pose on rigid body
- Create trajectory now checks for all prims existence
- Fixed nova menu not visible in viewport context menu and some cleanup after extension shutdown
- Reduced log level of invalid robot config in IO nodes
- Improved handling of io subscriptions and bug fixes
- Fixed switching motion group host keeping old connection
2025
2.15.5
December 4, 2025
Bug Fixes
- Missing conversion to IOBooleanValue in BusIO Stream
2.15.4
December 2, 2025
Includes 2.15.2 – 2.15.4 (3 versions)
Bug Fixes
- Include openapi spec into release
- Fixed missing icon and snippets
- Added openapi.json to github release
2.15.1
November 28, 2025
Includes 2.10.3 – 2.15.1 (14 versions)
Features
- Add OmniGraph Nodes for BusIO communication e.g. ProfiNet
- Add example on how to fetch ghost objects as variables on demand
- Added move to ghost toolbar
- Added nucleus endpoint to add an api token
- Wandelbots NOVA assets browser
Bug Fixes
- extension startup errors
- Revert get pose change "bugfix" for ghost teaching
- Fixed get xformable pose/orientation
- Update npm package publishing process
- Schema extension 1.1.4 for linux support
- Update instances list to support multiple motion groups connected to one controller
- Use torch instead of numpy for articulations
- Update npm publishing process
- Update container registry for build images
2.10.2
October 24, 2025
Bug Fixes
- Fixed clear and get motion group endpoints
2.10.1
October 22, 2025
Includes 2.7.2 – 2.10.1 (7 versions)
Features
- Added context menu for nova tcp creation
- Added collision export and action planner ui (beta)
Refactors
- Remove deprecated dependencies from omni.isaac and drop support for 4.2.0
Bug Fixes
- Fixed fetch of rigid body pose
- Copy examples to new location
- Fixed version check for minimal nova version
- Fixed blocking extension ref on shutdown (warning)
2.7.1
October 8, 2025
Includes 2.5.0 – 2.7.1 (4 versions)
Features
- Added option to define width/color of individual trajectory points
- Added support for NOVA OpenUSD schema
Refactors
- Merged ghost objects to single mesh. Materials are now stored next to scene
Bug Fixes
- Added python version to prebundle path
2.4.6
September 17, 2025
Includes 2.4.0 – 2.4.6 (7 versions)
Features
- Compatability with 25.8.0
Bug Fixes
- Fixed missing dll on extension startup
- Check compatability on base_version
- Update order of environments for authentication
- Add default config if no alternative environments are given for authentication
- Fixed choosing proper portal API
- Added reset to ogn node config once timeline stops
- Fixed model_name namespace conflict
- Updated portal login to latest api package
2.3.0
September 4, 2025
Includes 2.1.0 – 2.3.0 (7 versions)
Features
- Add cloud instance workflow
- Add custom instance
- Add custom instance and cleanup
- Add folder for instances ui components
- Add icons and refeactor structure
- Add model name for robot
- Add toggle of instance status (start, stop)
- Add window which lists nova instances
- Create motion group connection between nova and isaac sim
- List motion groups
- Populate instances and cells
- Remember connection state
- Separate concerns. Extract delegate logic. Restructure
- Update connect and disconnect functionality
- Update credential store to persist auth token
- Update icons.py to use os instead of omni.kit.app
- Update motion group configuration
- Update openapi spec and update deletion of instance
- Update signup process and cleanup
- Update spaces and colors and show error message when motion group is already in use
- Added truth table and range select node generation scripts
- Collision export
Refactors
- Migrate from motion_group_name to prim_path as identifier
- Migrate to prim_path to get motion_group
- Refactor and update instances individually
- Refactoring instancedata. Update UI to look bit refined
- Split up instances to distinct modules. Update wandelbots-nova to 2.9.0
Bug Fixes
- Add message when no instance is available
- Check if we pull for auth token
- Delete and styling and code formatting
- Instance form cancel button was not working
- Make custom instances work again
- Refresh after delete
- Remove conflicting dependencies
- Remove custom instance was not working
- Removing motion group to prim path connection was not possible
- Show message when no cloud instances are available
- Support multiple cells again
- Update authentication endpoint compatible
- Update rendering
- Update UI and cleanup colors
- Update naming of python client
- Updated api client publishing
- Moved required pip packages to extension
- Updated control mode switch to new endpoint in NOVA 25.7.0
2.0.2
July 17, 2025
Bug Fixes
- Upgraded connector models and enabled auto control mode switch for ext. joint stream
2.0.1
July 13, 2025
Bug Fixes
- Changed nova sdk version to 1.9.1
2.0.0Major
July 10, 2025
Features
- Made endpoints RESTful
- Optimized doc strings
- Added query and body request parameters
- Handled deprecated types in data types
Breaking Changes
- Refactored prims utils
- Renamed robot to motion-group
- Simplified camera endpoints
1.48.1
June 30, 2025
Bug Fixes
- Fixed empty IO subscription artifacts after unsubscribe
- Fixed invalid IOs not being filtered out correctly
- Fixed reconnect triggering reset every time
1.48.0
June 27, 2025
Includes 1.47.7 – 1.48.0 (2 versions)
Features
- Compatability release for Wandelbots NOVA 25.6
Bug Fixes
- upload to azure storage account
1.47.6
April 16, 2025
Includes 1.47.5 – 1.47.6 (2 versions)
Bug Fixes
- Fixed crash in extension shutdown
- inverse first and inverse second modes when complex rots are present
- relative pose orientations
1.47.4
April 15, 2025
Bug Fixes
- Fixed used base_url endpoint for authentication
1.47.3
April 9, 2025
Includes 1.47.2 – 1.47.3 (2 versions)
Bug Fixes
- Fixed invalid async in ghost object creation
- missing __init__.py file for loading extension
1.47.1
March 27, 2025
Includes 1.46.0 – 1.47.1 (3 versions)
Features
- Added OGN IO nodes (read/write/onchange)
- add base template for configurable camera
- add camera parameters models
- add datatypes for configurable camera
- add dependeny injection for fetching configurable camera
- add endpoints to delete cameras
- add fetching and deleting configured camera endpoints
- capture bounding box data in structured format
- capture segmentation data in structured format
- change endpoints for camera router
- optimise reading and writing camera paramters for Isaac sim 4.5
Bug Fixes
- point cloud output datatype
- bounding box data formats for issac sim 4.5
- capturing depth, normals data
- capturing pc data
- change query paramters to body for labels
- code to capture segemntaiton data
- endpoints to capture segmentation data
- endpoints to capture synethetic data
- fetching cam params and setting cam params
- fetching camera paramters in structured format
- formatting errors
- formatting issues
- formatting issues for static analysis
- get active camera validation error
- package imports for synthetic data
- semantic segmentation datatypes
- setting camera parameters for 4.5
- virtual camera configuration model
- visualization of 2d bounding boxes
1.45.2
March 17, 2025
Bug Fixes
- Lazy loading of nova.auth dependency
1.45.1
March 14, 2025
Includes 1.44.0 – 1.45.1 (4 versions)
Features
- Add X-Wandelbots-Client to API requests
- Remove singleton for authentication
- Update authorization process
- Use default values if .env is not available
Bug Fixes
- Allow physical robots to be connected
- Check for joints in motion group state
- Authentication inside of Isaac Sim was not possible
- Add missing auth token to calls
1.43.5
March 4, 2025
Includes 1.7.0 – 1.43.5 (73 versions)
Features
- Change module from 'com.wandelbots.omniservice' to 'wandelbots.omni'
- Read dependencies from extension.toml
- Added option to synchronize simulation articulation state
- Add device code auth0 process
- Update authentication endpoint to store the token directly
- Update authorization flow
- add https config
- add port config to launch omniservice
- add script to generate self-signed certificates
- reload app settings to apply https settings
- custom port to default
- Introduce "Wandelbots" menubar item
- Add cleanup to CHANGELOG.md
- Create Github Release with Release Notes
- Exchange preview image
- Set preview image
- Changed hide ui endpoint and added getter
- Add version endpoint to get versions of installed extensions. Remove login endpoint
- add endpoint to fetch all TCP sources
- add multiple modes for capturing relative pose between prims
- fetch tcp sources with values
- save ghost sources and objects in a different scope object
- optimise fetching ghost object sources
- Add endpoint to select an object based on its prim path
- add get_ghost_object_sources endpoint
- add get_ghost_objects endpoint
- add GhostRubyRed material USD file
- add new ghost material
- Add select ghost_object method to the ghost teaching router
- add set relative pose endpoint
- add tcp transformation to prim
- add the ability to create more than one ghost object
- Added delete and create (with name) ghost object
- apply specified material
- create main ghost during robot creation
- create source ghost objects with tcp names
- create source ghosts when creating robots
- enable ghost object to be placed at ref pose
- get robot prim path for ghost object
- hide source ghost prim
- implement websocket endpoint
- implment copy_ghost_material_to_scene
- mark ghost objects via prim data
- obtian the pose
- remove physics apis and prims
- Set position of ghost to the tcp_flange of the robot
- set ref_pose to move ghost object
- Update openapi.json
- use the cloner extension to clone objects
- change pose tracker wait time to 3 seconds
- optimise getting ghost object data from scene
- Add authenticate endpoint for oauth next to login for backwards compatibility
- Enable omniservice to authenticate with OAuth Token
- Provide basic or bearer token to endpoint
- Update response rate of robot state stream to 32 as default and fix parameter
- Add endpoints to toggle joints
- Update OpenAPI
- add endpoints to toggle collider
- add endpoints to control prim visibility
- Compatability with Isaac Sim 4.1
- Ignore velocities for robot for now
- Revert changes in postprocessing
- Upload releases to the portal again
- Change also type annotation
- return scene file during export
- add analog gripper
- add custom tool data schemas
- add endpoint to determine analog signals based on positions
- add gripper ranges model
- add joint velocities for articulation chains
- configure tool metadata info
- enable analog gripper states with multiple IOs
- enable multi joint drive with digital signals
- check for empty websocket messages
- add clear all variables function in inmemory datbase
- find tool paths from registered data
- register and deregister prim data
- delete associated tool streams when parent robot stream is deleted
- add authentication to http requests
- add authentication to websockets
- add credential store
- delimiter in database
- add better documentation to the "set_state" endpoint
- improve docstrings
- provide better errors for the apply_action endpoint
- add secured network protocols
- Update README.md which is shown in the library of nvidia
- control streams individually
- endpoints to control streams
- streammanager to control streams
- add key types while loading config
- control move direction for conveyor
- auto fetch tools
- fetch all robot prim paths in the scene
- Add api middleware for CORS and update OpenAPI spec
- Add reponse models and opaque configuration names in openapi spec
- Each virtual robot state connector subscribes to the physics step event
- Implement streaming endpoint for VirtualRobot
- Parse VirtualRobot state stream data and push it into the omniverse articulation
- Remove virtual robot state connector
- Update required data for robot and stream
- Upload versioned artifact to developer portal
- auto generation of openapi spec file on startup
- add simulation controls (play, pause and stop)
- load and save scene configurations
- redirect api reference to stoplight UI
- add poses feature
- get path by selecting object
- add a sample configuration file
- add api route
- add config validator
- add configurable tool
- add endpoint for tool operations
- add endpoint to apply action for configured tools
- add get and delete stream endpoints
- add io state streaming endpoints
- add IO streaming
- add pose tracker streaming for omniverse
- add robot state streaming
- add robot state streaming endpoints
- add schamalz_sction_gripper
- add schunk gripper
- add status for streams
- add streams registry
- add stremaing connector base class
- add tool endpoints with configurable tool
- add ToolIO datatype
- associate tools with robots
- check for duplicates in stream configuration
- check network connections before streaming
- configure robots from .yaml file
- configure tools from .yaml file
- connect tool control with IO streaming
- connect tools to a robot instance
- control tools via state
- create configurable streaming services
- load IOs based on robots input for streaming
- load scene from configuration
- modified pose tracking using streaming
- parse robot state with robot_state_streaming
- refine tool endpoints
- show viewport to full screen
- simplified exception handling
- add nested inmemory database
- add reset endpoints
- add reset prim option based on default defined poses
- add setting pose for different prim types
- add support for all prim types
- endpoints are simplified for poses
- reset objects poses for all children prims
- add auto-installation of external python packages on application startup
- add datatypes
- add datatypes for coordinate system and rotations
- add docstrings for all functions and endpoints
- add typing hints and variable types
- disable stage units to get pose in WS format irrespective of units set
- remove generic sensor
- bring back support for poses extension
- ubuntu to 20.04 and cuda to 11.4
Refactors
- Extract object modifiers into PrimUtils
- Rename connector and add changelogs and readme
- move setting of the tool state to an abstract method _apply_tool_state
- refactor rae connector
- refactor virtual robot
- reorganized structure
Bug Fixes
- Fixed initial timeline start not connecting robot state stream
- Capture synthetic data without the requirement of viewport switch
- Toggle visibility, joints and collider of prims
- Fixed path of postprocessing script
- Update synthetic data capturing and error handling
- Robot stream connects when timeline play is executed
- Update wandelbots-nova dependency
- Check for token when connecting to websocket
- Added websocket reconnect
- Made WS connection error more noticeable
- Isaac Sim 4.5 compatability
- Utilize settings to get the current port of the API
- Replaced ext id by name
- Fixes the issue that get_pose and get_relative_pose was not responding anymore
- Fixed OmniService extension not found
- Fixed unused import error
- Fixed out of bounds error in get tcp sources
- tcp source prims are not filtered by prefix
- Add python package to module mapping in configuration to resolve versioning issues
- Remove 'scene' from exported config to prevent issues when reimporting it
- ghost material path
- Remove conveyor.ui dependency
- Remove as dependency
- await expressions
- Update release process
- Remove `await` from get_pose occurences to fix camera endpoints
- fetch ghost object sources only when created in the scene
- Upload extension to azure storage
- Add poses folder for ghost objects
- adjust a doc string
- applying shader to prim
- Awaiting selection of object
- cloner error with quatf and quatd types
- Copy ghost object material at the correct place
- delete source key on copy
- delete the ghost object after exiting the generator
- ghost material physics
- handling source ghosts
- improve error handling on copy_ghost_material_to_scene
- omit ghost objects as main sources
- openapi version
- Readd select ghost object, add object at flange pose
- ref_pose parameter when creating ghost object
- serialization of json objects
- set pose endpoint for handing doubles and floats
- simplify the apply material command
- Update relative pose calculation
- use generators to enable more efficient traversal of the scene
- visibility of created ghost objects
- Wait 2 seconds before sending updates of the ghost objects in scene to increase performance
- pin the azure cli image and adjust script to new package manager
- remove an unnecessary before_script stage
- delete connected streams and tools when deleting a robot
- don't mutate the array while iterating over it
- only stop a single stream, not any connected ones
- use the correct key
- use the delete_robot function to delete all robots
- use the stream name for deletion
- Add internal development packages to wandelbots-internal for referencing
- Apply postprocessing for union types in npm package
- Update optional signals field to non optional. Update configuration interfaces to more convenient ones
- increase clarity of a docstring
- mutation of host database when exporting config
- transfer changes from the workstation
- use single_dispatch to simplify tree-walk
- Better error handling for unknown tool metadata
- analog articulation chain
- check for signals in states before creating tool
- check state change before tool action
- endpoint for fetching analog signals based on joint positions
- exporting configuration for gripper
- IO streams for gripper
- loading keys in configuration
- signals when starting io stream
- surface gripper method
- validation conditions for tools
- relative pose
- property for base tool class
- reset host database when scene is changed
- check start_all_streams and delete_all_streams endpoints
- start stream only when not running
- stop stream when deleted
- streamer condition in stop stream
- Update regex for version inside of openapi.json
- Update list of assets to change the version entry
- check for unsecured connections for login
- loading configuration file with missing keys
- make username and password optional
- missing robot keys
- reading keys in streams
- robot headers
- sending authorization bearer token
- websocket connections with authentication
- Update files for version bump
- reinitialize tools on the start of the IO stream
- disable https by default
- is_Secured key
- load scenes in config file with missing keys
- Lock thread when receiving io streaming messages to avoid race conditions
- articulation for generic parallel gripper
- endpoint names
- gripper modes reachability
- logging for all tools
- mode variable
- stop streams when simulation is not running
- streaming variable
- Use different version for semantic release dependencies
- fetching all streams
- return types for streams
- conveyor event prim
- conveyor velocity check and gripper params
- revert back to old conveyor setup
- revert GenericSurfaceGripper back to generalized convention
- revert to old suction gripper
- velocity param for conveyor
- io dict keys
- revert type annotations
- Update response parsing of IO stream
- change status request to GET
- check for existing tools ans streams
- remove check for existing streams
- **VW:** Fix VW Gripper
- Return Status Code 200 for the simulation is running endpoint instead of 204
- extension reload issue
- generic parallel gripper
- issues with model definitions when reloading app
- load and save configuration
- operation ids for streams
- prevent duplicate creation of tools, robots and streams
- streaming route
- aesthetics
- disable host validation and add warning for wrong connection
- loading ws files
- ws API path execution and delete scripts
- add httpx dependency
- add reuse option for validator
- articulation for schunk gripper
- async call for set camera parameters
- generic surface gripper
- IO streaming and tool connections
- loading parameters from dict
- loading streaming parameters from dict
- multi-robot state streaming
- parallel gripper articulation
- robot state streaming endpoints
- run tasks in background
- setting pose of object
- stream fetcher
- Missing options did not allow for attaching tools
- async call in reset prim
- minor fixes in point cloud and bounding box captures
- semantic labels
- add response models for validation
- async call for fetching prim
- typos
- websocket route poses