Extension API

Last updated: August 3, 2026

Relevant for: Developer

REST API reference for the Wandelbots NOVA extension for NVIDIA Isaac Sim. Manage stages, prims, cameras, motion groups, collision worlds, and trajectory playback from your own code.

The Wandelbots NOVA extension serves its own REST API from inside NVIDIA Isaac Sim, so everything you can do through the extension UI is also available to your own code. Use it to load and manipulate USD stages, bind articulations to motion groups, configure virtual cameras, maintain the collision world, and record or replay trajectories.

The API is served under /omniservice/api/v2 on the machine running Isaac Sim, so all paths below are relative to a base URL such as http://localhost:8011/omniservice/api/v2. The port is assigned when the extension starts and is usually 8011. To read the port your instance is using, open the Wandelbots NOVA menu in Isaac Sim and select the Isaac Sim Extension API; the port is the number after the colon in the URL that opens. See the FAQ if the connection fails.

For Python, the wandelbots-isaacsim-api package wraps these endpoints in a generated client. The synthetic data guide shows it in use.

Download OpenAPI spec

Stage

Get Active Scene

Open Scene

List Stage Motion Groups

Get Stage Units

Update Stage Units

Timeline Action

Simulation State

Export Configuration

Import Configuration

Prims

Get Pose

Update Pose

Get Relative Pose

Apply Relative Pose

List Semantic Labels

Set Semantic Label

Clear Semantic Labels

List Default Poses

Assign Default Poses

Clear Default Poses

Reset Prim Poses To Default

Set Prim Metadata

Remove Prim Metadata

Set Prim Visibility

List Selected Prims

Select Prims

Set Joints

Update Colliders

Periphery (Camera)

List Camera Prims

Get Active Camera

Set Active Camera

Capture Color Image

Capture Normals Image

Capture Depth Image

Capture Pointcloud

Capture Boundingbox 2D

Capture Boundingbox 3D

Capture Instance Segmentation

Capture Semantic Segmentation

UI

Get Visibility

Set Visibility

Teaching

List Ghost Object Sources

List Tcp Sources

List Ghost Objects

Create Ghost Object

Clear Ghost Objects

Trajectory Planner

Export Trajectory Plans

Export Trajectory Plan Skill

Manipulators (Motion-Group)

List Motion Groups

Create Motion Group

Clear Motion Groups

Get Motion Group

Update Motion Group Motion Stream

Remove Motion Group

Trajectory

List Trajectories

Create Trajectory

Remove Trajectory

Update Trajectory

Create Markers

Remove Markers

Collision World

Sweep Collisions

Robot Overlay (Experimental)

Set Robot Overlay Visibility

Nucleus

Add Nucleus Server

List Nucleus Servers

Add Nucleus Api Token

Remove Nucleus Api Token

Remove All Nucleus Api Tokens

Other

Get Status

Get Versions

Authenticate