Update to Isaac Sim extension 2.0

With version 2.0, streamlined processes and a new user-friendly API is introduced. This guide will help you migrate your existing projects from v1 to v2 and clarifies key design decisions.

API changes

The Isaac Sim extension v2 API has undergone substantial improvements, including reorganized modules, streamlined endpoints, and the removal of redundant functions.

Consistent naming convention

• Endpoints are now prefixed with /omniservice/api/v2/ and adhere to a consistent naming convention.
• robot was replaced with motion-group to align with Wandelbots NOVA API terminology.

Robot creation

To improve and facilitate creating a robot, the creation and streaming endpoints from v1 are now consolidated into one.

Endpoints from:

* /omniservice/robot/*
* /omniservice/streams/*

are now consolidated into:

* /omniservice/api/v2/manipulators/motion-groups*

Steps to create a robot with v2:

1. Create a robot connection via Robot Pad or the API.
2. Press Play in IsaacSim to start the simulation.

When providing the robot prim path and stream configuration, internal motion group management now automatically handles all stream-related actions.

Tool creation

The tool creation functionality previously found within Robot Pad has been entirely removed due to limited flexibility and challenging debugging processes. Tool creation is fully transitioned to OmniGraph Nodes (OGN) based tool creation. Learn how to create a tool using OGN.

This new method provides closer compatibility with plug-and-play solutions.

All previously existing tool-related endpoints have thus been removed.

Ghost teaching

Functionality remains unchanged. Endpoints have been updated to align with NOVA API naming conventions:

* /omniservice/api/v2/teaching/ghost-objects*

UI

No changes have been made to the API UI.

Scene/Prim management

The terminology has shifted from "objects" to "prims" for greater consistency with USD terminology. A new stage group was introduced for managing stage- and scene-related endpoints.

While functionality remains consistent, endpoint names have been updated:

* /omniservice/api/v2/prims*
* /omniservice/api/v2/stage*

Synthetic data & Camera

Camera endpoints have been improved, now offering a robust RESTful interface. Various bugs have been identified and resolved, enhancing reliability.

The camera endpoints are located at:

* /omniservice/api/v2/periphery/cameras*

OmniGraph Nodes (OGN)

No changes have occurred here. Continue to utilize the available I/O nodes to make your simulated scene even more realistic.

Coming soon

We are actively enhancing the user experience within NVIDIA Isaac Sim, enabling direct connections to Wandelbots NOVA without leaving the application. Additionally, we're developing a Wandelbots NOVA-specific OpenUSD extension, allowing direct interaction with the scene graph and easy assignment of attributes to robots and tools within your stage.

Look out for these updates in the upcoming releases.