# Release Notes

> Release timeline for the Wandelbots Isaac Sim Extension.

All releases: <https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases>

## 2.74.0 (latest)

September 24, 2026. Includes 2.69.6 – 2.74.0 (7 versions)

**Features**

- \*\*preferences:\*\* Add a Wandelbots NOVA page to the preferences window
- \*\*camera:\*\* Return depth with the camera intrinsics and a chosen unit
- Reachability Envelope tool
- Payload calculator
- Add multiple prim pick and fix overlap error of ContactGripper OGN

**Bug Fixes**

- Close a connection that cannot be subscribed
- Align the CF step size row and show when it is adaptive

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.74.0)

## 2.69.5

September 17, 2026. Includes 2.64.0 – 2.69.5 (14 versions)

**Features**

- Optimized Ghost object mesh creation with simplification and caching by up to 99%
- \*\*pose:\*\* Attach the pose gizmo as a shared instance
- Add CF Step Size setting for collision-free trajectory planning
- \*\*instances:\*\* Warn when robot geometry does not match NOVA's model or kinematics
- Report a release to Slack as soon as it is published
- \*\*trajectory-planner:\*\* Concatenate collision-free motion commands instead of merging trajectories and visual feedback for failed motion planning

**Bug Fixes**

- \*\*manipulators:\*\* Let motion groups share one articulation
- \*\*manipulators:\*\* Wake idle articulations so a timeline stop resets the joints
- \*\*usd:\*\* Convert millimetres to stage units with the shared scale helper
- Add prim path to unassigned articulation section, refresh ui after virtual controller connection and provide button to recreate virtual controller
- Regenerate model base offsets from NOVA data and provide script for repeated update
- Replace full-stage traversals on paths with subtree walks
- \*\*usd:\*\* Stop viewport transform edits from stalling the main thread
- Correct pose units and ghosts of instanced tools

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.69.5)

## 2.63.1

September 8, 2026. Includes 2.51.0 – 2.63.1 (25 versions)

**Features**

- Reply measured physics state on external joint stream
- World-frame collision setup contract with reachability, planner and overlay integration
- Upgraded api client versions in pip.tomls
- Cache get\_root\_articulation\_path results per prim
- \*\*trajectory-planner:\*\* Trajectory Planner allows to drag-and-drop poses for reordering with flicker-free updates
- Enhance motion group performance with coalesced joint application and validation checks
- \*\*nova-connector:\*\* Auto select virtual controller type for motion group model
- \*\*reachability-analysis:\*\* Update instances button, multiple bases analysis, collider tree sweep, enhanced manufacturer filter, list refresh
- \*\*trajectory-planner:\*\* Overlay suppression, external-axis offset, convert-to-pose, pose fixes
- Updated to latest NOVA api client version
- Add trajectory generation example with supporting files and configurations
- Adding a material converter to the animation recorder
- Create virtual controller from isaac sim (including TCP and mounting definition)

**Bug Fixes**

- Animation recorder bug
- Fixed depth and point cloud endpoint and migrated semantic labels to 6.0 api
- Added trajectory debug log and stream app fixes
- Fixed nova tag version invalid evaluation
- \*\*nova-connector:\*\* Fixes the connection state in the "Connect to NOVA" list
- \*\*diagnose:\*\* Fixes diagnose package selection and make instance optional
- \*\*nova-connector:\*\* Fix "Connect to NOVA" freezes, articulation matching, and virtual controller creation
- Fix apply relative pose transformation
- Instances does not refresh all widgets on stage change
- Removed api v1 client option
- Fixed joint values not updating in the TP pose details
- Fixed joint config displayed in overlay for ghost teaching and update toolbar when motion group connection is changed

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.63.1)

## 2.50.0

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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.50.0)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.45.0)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.34.5)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.34.3)

## 2.26.1

February 23, 2026

**Bug Fixes**

- added toggle switch to multiple motion group controllers in connected instance tab

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.26.1)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.26.0)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.19.1)

## 2.15.5

December 4, 2025

**Bug Fixes**

- Missing conversion to IOBooleanValue in BusIO Stream

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.15.5)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.15.4)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.15.1)

## 2.10.2

October 24, 2025

**Bug Fixes**

- Fixed clear and get motion group endpoints

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.10.2)

## 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)

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.10.1)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.7.1)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.4.6)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.3.0)

## 2.0.2

July 17, 2025

**Bug Fixes**

- Upgraded connector models and enabled auto control mode switch for ext. joint stream

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.0.2)

## 2.0.1

July 13, 2025

**Bug Fixes**

- Changed nova sdk version to 1.9.1

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.0.1)

## 2.0.0

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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/2.0.0)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.48.1)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.48.0)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.47.6)

## 1.47.4

April 15, 2025

**Bug Fixes**

- Fixed used base\_url endpoint for authentication

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.47.4)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.47.3)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.47.1)

## 1.45.2

March 17, 2025

**Bug Fixes**

- Lazy loading of nova.auth dependency

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.45.2)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.45.1)

## 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

[View on GitHub](https://github.com/wandelbotsgmbh/wandelbots-isaacsim-extension/releases/tag/1.43.5)