Isaac Sim 4.0 Preview: What to Expect in the Release!

Omniverse Isaac Sim
1

Hello Users,

Apologies for not responding to forum posts lately, as the Isaac Sim team has been deeply engaged in working on the Isaac Sim 4.0 Release! The release is currently scheduled for May 30th.

This update will focus on enhancing usability for users, boosting performance, and introducing some exciting new features!

Isaac Sim 4.0 Release Highlight

Assets/ Import
  • Wizard Guide for how to import robot and tuning process
  • URDF importer: Import sensors from URDF schema
  • URDF importer: Import via ROS 2 robot description
  • New assets:
    • Sensors
    • Sick safety lidars
    • Ouster OS2, meshes for existing Ouster lidars (OS0, OS1)
    • Meshes for Velodyne VLS-128
    • Meshes for Sensing cameras and model updates
    • Environments
      • Large empty warehouse
      • Large full warehouse (digital twin)
      • Small warehouse (galileo lab digital twin)
      • Rivermark plaza
    • Robot
      • AgileX Limo Robot and ROS2 drive support
      • Universal Robot UR20
      • Universal Robot UR30
      • Nova Dev Kit
    • Legged Robot
      • Unitree Go2
      • Unitree B2
      • Boston Dynamics Spot
    • Humanoid
      • 1X Neo
      • Unitree H1
      • Agility Digit
      • Fourier Intelligence GR1
      • Sanctuary AI Phoenix
      • XiaoPeng PX5
  • Nova Carter physical dynamics improvements
  • Nova Dev Kit ROS2 support
  • Forklift_b (Crown SP3200) ROS2 support with cameras and lidars
cuOpt
  • cuOpt extension
Documentation and Workflow Tutorials
  • Isaac Lab: Migration guide when moving from IGE, OIGE, and Orbit
  • Isaac Lab: Tiled RGB/Depth rendering tutorial
  • Isaac Lab: Cloud-based workflow deployment using Isaac Sim Automator tutorial
  • Assets and Import: OpenUSD Fundamentals
  • Assets and Import: Simulation Fundamentals
  • Assets and Import: Using the unified mesh merging tool
  • Assets and Import: How and where to break articulation loop
  • Assets and Import: Omnigraph Menu shortcuts
  • SDG: Example Snippet – Motion Blur
  • SDG: Example Snippet – Data Access at Custom FPS
  • SDG: Example Randomizer – Physics Based Volume Filling
  • SDG: Custom Replicator OG-based Randomization Nodes
  • SDG: Synthetica Tutorial
  • ROS: ROS 1 to ROS 2 Tutorial. Using the ros1_bridge package for interfacing with Isaac Sim ROS 2 nodes from ROS Noetic.
General
  • Based on Kit 106.0 Beta
  • Compatibility Checker app to check Isaac Sim’s system requirements and compatibility
  • VS Code integration (VS Code version of the Script Editor)
  • JupyterLab/Jupyter Notebook integration (Jupyter version of the Script Editor)
  • Install Isaac Sim using a Python package manager such as pip [experimental]
  • Improved Cache/Shader Experience
  • Use EcoMode to reduce GPU consumption when not simulating
  • Performance improvements
Isaac Lab
  • Unified RL platform
  • Open source with BSD-3 license
  • Perf improvements
  • Multi-GPU training based on torch.distributed()
  • Recording capabilities (Animation and video)
  • Tiled RGB/depth rendering with an example
Manipulation
  • Enhanced robot description editor for Lula/cuMotion
  • Gains tuning tool for Articulations
  • Full pose (including orientation) support in task-space global planner (JT-RRT)
MetroSim
  • ORO extension
  • ORA (previously ORC) extension
  • Anim.People extension
PhysX
  • Mimic Joint Support
  • Contact Friction Force Reporting
  • Improved Physics Inspector
  • Simulation Data Visualizer
  • Improved Cloning time
  • TGS Solver Per-Iteration Gravity
  • Rigid Body Acceleration Getter
  • Solver Residual Reporting
  • Compliant Contact Update
  • Improved OmniPVD
  • SDF Collision Improvements
ROS
  • Performance improvements for image based publishers
  • Support CycloneDDS for Linux
  • Deprecation: ROS and ROS 2 Foxy
  • Improved ROS 2 launch support end-to-end workflow.
  • Added ROS 2 Internal Libraries option and ROS 2 sourcing validation within the App Selector
  • Add a QoS for publishers and subscribers
  • Introduced static publisher option for TF publishers
  • Omnigraph node to expose articulation states (joint position, velocity, effort)
  • Generic ROS 2 publisher and subscriber for any available message type
  • Generic ROS 2 service server and client for any available message type
  • ROS 2 service omnigraph node to list prims and their attributes, as well as read and write a specific attribute
  • Render the ROS 2 TF transformation tree in the viewport
  • Publishing the robot description topic
  • Import URDF from ROS 2 publisher
  • Use of system time in all publishers and helper nodes
  • New Common Omnigraph shortcut to auto-generate preset ROS2 Action Graphs.
SDG
  • Custom writer for Pose estimation
  • COCO writer
Sensors
  • Enable RTX non-visual materials
  • Radar support
  • Performance improvements to OmniGraph based sensor pipelines
  • IMU sensor backend change to Tensor API
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