chore: New release 2.10.1

Author: sn3ek

exts/wandelbots.omni/config/extension.toml

@@ -3,7 +3,7 @@ reloadable = true
 order = 1000      # Make sure all .dlls are loaded before this extension
 
 [package]
-version = "2.7.1"
+version = "2.10.1"
 category = "Simulation"
 title = "Wandelbots NOVA"
 description = "Simulate your robotics cell running on Wandelbots NOVA."
@@ -31,20 +31,28 @@ icon = "data/icon.png"
 
 
 [dependencies]
-"omni.isaac.core" = {}
-"omni.isaac.conveyor" = {}
+"wandelbots.usd" = { version = "1.1.3" }
+"isaacsim.core.api" = {}
+"isaacsim.core.prims" = {}
+"isaacsim.core.utils" = {}
+"isaacsim.gui.components"= {}
+"isaacsim.asset.gen.conveyor" = {}
 'omni.services.core' = {}
-"omni.isaac.cloner" = {}
+"isaacsim.core.cloner" = {}
 'omni.services.client' = {}
 'omni.services.usd' = {}
 "omni.services.transport.server.base" = {}
 "omni.services.transport.server.http" = {}
 "omni.services.transport.client.http_async" = {}
 "omni.kit.test" = {}
 "omni.graph" = {}
-"wandelbots.usd" = { version = "1.1.3" }
 "omni.kit.clipboard" = {}
-
+"omni.ui" = {}
+"omni.kit.menu.utils" = {}
+"omni.replicator.core" = {}
+"isaacsim.sensors.camera" = {}
+"omni.isaac.ml_archive" = {}
+"omni.kit.property.usd" = {}
 
 [settings]
 exts."omni.services.transport.server.http".https.enabled = false
@@ -65,3 +73,9 @@ exclude = ["Ogn*Database.py"]
 
 [[python.module]]
 name = "wandelbots.omni"
+
+[[test]]
+name = "startup"
+pythonTests.include = []
+_startup_only_test = true
+timeout = 3600

exts/wandelbots.omni/config/requirements.txt

@@ -1,5 +1,5 @@
 httpx==0.28.1
 scikit-learn==1.6.1
-wandelbots-api-client==25.8.0.dev71
+wandelbots-api-client==25.9.0rc3
 python-decouple==3.8
 tenacity==9.1.2

exts/wandelbots.omni/docs/CHANGELOG.md

@@ -1,5 +1,47 @@
 # Changelog - Wandelbots NOVA x Nvidia Isaac Sim
 
+## 2.10.1 (2025-10-22)
+
+### Bug Fixes
+
+* Fixed fetch of rigid body pose
+
+## 2.10.0 (2025-10-22)
+
+### Features
+
+* **CSI-2113:** Added context menu for nova tcp creation
+
+## 2.9.0 (2025-10-22)
+
+### Features
+
+* **CSI-2110:** Added collision export and action planner ui (beta)
+
+## 2.8.1 (2025-10-21)
+
+### Bug Fixes
+
+* Copy examples to new location.
+
+## 2.8.0 (2025-10-20)
+
+### Features
+
+* Remove deprecated dependencies from omni.isaac and drop support for 4.2.0
+
+## 2.7.3 (2025-10-14)
+
+### Bug Fixes
+
+* Fixed version check for minimal nova version
+
+## 2.7.2 (2025-10-13)
+
+### Bug Fixes
+
+* Fixed blocking extension ref on shutdown (warning)
+
 ## 2.7.1 (2025-09-18)
 
 ### Bug Fixes

exts/wandelbots.omni/premake5.lua

@@ -0,0 +1,11 @@
+-- Use folder name to build extension name and tag. Version is specified explicitly.
+local ext = get_current_extension_info()
+
+project_ext (ext)
+
+-- Link only those files and folders into the extension target directory
+repo_build.prebuild_link {
+    { "data", ext.target_dir.."/data" },
+    { "docs", ext.target_dir.."/docs" },
+    { "wandelbots", ext.target_dir.."/wandelbots" },
+}

exts/wandelbots.omni/wandelbots/omni/assets/icons/arrow_down.svg

@@ -1,4 +1,5 @@
-from typing import Literal, cast
+from typing import Callable, Literal, cast
+import asyncio
 
 import carb
 import omni.physx.bindings._physx as physx_bindings
@@ -9,6 +10,13 @@
 from pxr import Sdf
 import wandelbots.omni.core.collision.shapes as collision_shapes
 from wandelbots.omni.utils.prims import Pose, PrimUtils, WSPose
+import wandelbots_api_client.v2 as wb
+import wandelbots_api_client.v2.models as wb_models
+from wandelbots.omni.utils.api import get_api_client_from_config
+from wandelbots.omni.utils.auth import get_auth_token
+from wandelbots.omni.utils.scene import SceneUtils
+from wandelbots.omni.manipulators import get_motion_group_configuration_from_prim
+from .utils import to_nova_collider
 
 
 class SphereSweepParameters(pydantic.BaseModel):
@@ -217,6 +225,107 @@ def on_sweep_hit(hit: physx_bindings.SweepHit) -> bool:
             if collider is not None
         }
 
+    async def export_collision_sweep_to_nova(
+        self,
+        reference_prim: Usd.Prim,
+        motion_group_prim: Usd.Prim,
+        sweep_parameters: SweepParameters,
+        collision_setup_id: str,
+        tcp_id: str,
+        tcp_sphere_radius: float,
+        progress_callback_fn: Callable[[float], None],
+        self_collision: bool = True,
+    ) -> dict[str, wb_models.Collider]:
+        reference_pose = PrimUtils.get_prim_pose(
+            reference_prim.GetPath().pathString, coordinate_system="world"
+        )
+
+        motion_group = get_motion_group_configuration_from_prim(motion_group_prim)
+        if progress_callback_fn:
+            progress_callback_fn(0.1)
+
+        timeline, _ = SceneUtils.check_simulation()
+        if not timeline.is_playing():
+            timeline.play()
+
+        while timeline.is_stopped():
+            # waiting for the timeline to start
+            await asyncio.sleep(0.1)
+
+        colliders = get_collision_export_service().collision_sweep(
+            stage=motion_group_prim.GetStage(),
+            sweep_args=sweep_parameters,
+            reference_prim_pose=reference_pose,
+        )
+        colliders = {
+            shape_id: to_nova_collider(shape) for shape_id, shape in colliders.items()
+        }
+        carb.log_info(f"Found {len(colliders)} colliders.")
+        if progress_callback_fn:
+            progress_callback_fn(0.5)
+
+        stream_config = motion_group.motion_stream_configuration
+        async with get_api_client_from_config(
+            stream_config.get_api_configuration(token=get_auth_token(), version="v2")
+        ) as api:
+            collision_setup_api = wb.StoreCollisionSetupsApi(api)
+
+            motion_group_description: wb_models.MotionGroupDescription = (
+                await wb.MotionGroupApi(api).get_motion_group_description(
+                    cell=stream_config.cell,
+                    controller=stream_config.controller,
+                    motion_group=stream_config.motion_group,
+                )
+            )
+
+            link_chain = await wb.MotionGroupModelsApi(
+                api
+            ).get_motion_group_collision_model(
+                motion_group_model=motion_group_description.motion_group_model,
+            )
+
+            tcps = await wb.VirtualControllerApi(api).list_virtual_controller_tcps(
+                cell=stream_config.cell,
+                controller=stream_config.controller,
+                motion_group=stream_config.motion_group,
+            )
+
+            tcp: wb_models.RobotTcp = None
+            for virtual_tcp in tcps:
+                if virtual_tcp.id == tcp_id:
+                    tcp = virtual_tcp
+                    break
+
+            await collision_setup_api.store_collision_setup(
+                cell=stream_config.cell,
+                setup=collision_setup_id,
+                collision_setup=wb_models.CollisionSetup(
+                    colliders=colliders,
+                    link_chain=link_chain,
+                    tool={
+                        "TCPSphere": wb_models.Collider(
+                            shape=wb_models.ColliderShape(
+                                wb_models.Sphere(
+                                    radius=SceneUtils.value_to_millimeters(
+                                        tcp_sphere_radius
+                                    ),
+                                    shape_type="sphere",
+                                )
+                            ),
+                            pose=wb_models.Pose(
+                                position=tcp.position,
+                                orientation=tcp.orientation,
+                            ),
+                        ),
+                    },
+                    self_collision_detection=self_collision,
+                ),
+            )
+
+        if progress_callback_fn:
+            progress_callback_fn(1.0)
+        return colliders
+
 
 _collision_export_service = CollisionExportService()
 

exts/wandelbots.omni/wandelbots/omni/assets/icons/arrow_up.svg

@@ -0,0 +1,87 @@
+import wandelbots_api_client.v2 as nova_api
+from typing import cast
+import wandelbots.omni.core.collision.shapes as collision_shapes
+
+
+def to_nova_collider(
+    shape: collision_shapes.Collider,
+) -> nova_api.models.Collider:
+    pose = nova_api.models.Pose(
+        position=[
+            shape.pose.position[0],
+            shape.pose.position[1],
+            shape.pose.position[2],
+        ],
+        orientation=[
+            shape.pose.orientation[0],
+            shape.pose.orientation[1],
+            shape.pose.orientation[2],
+        ],
+    )
+
+    if isinstance(shape.shape, collision_shapes.Sphere):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Sphere(
+                    radius=shape.shape.radius,
+                    shape_type="sphere",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape, collision_shapes.Box):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Box(
+                    size_x=shape.shape.size_x,
+                    size_y=shape.shape.size_y,
+                    size_z=shape.shape.size_z,
+                    shape_type="box",
+                    box_type="FULL",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape, collision_shapes.Capsule):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Capsule(
+                    cylinder_height=shape.shape.height,
+                    radius=shape.shape.radius,
+                    shape_type="capsule",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape, collision_shapes.Cylinder):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Cylinder(
+                    height=shape.shape.height,
+                    radius=shape.shape.radius,
+                    shape_type="cylinder",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape, collision_shapes.Plane):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Plane(shape_type="plane")
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape, collision_shapes.ConvexHull):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.ConvexHull(
+                    shape_type="convex_hull",
+                    vertices=cast(
+                        collision_shapes.ConvexHull,
+                        shape.shape,
+                    ).vertices,
+                )
+            ),
+            pose=pose,
+        )
+    return None

exts/wandelbots.omni/wandelbots/omni/assets/icons/colorize.svg

@@ -58,44 +58,6 @@ class RelativePoseMode(str, Enum):
     INVERSE_BOTH = "inverse_both"
 
 
-class ArticulationChainState(BaseModel):
-    mode: str
-    signals_mapping: dict[str, Union[bool, float]]
-    joint_positions: list[float]
-    joint_velocities: list[float]
-
-    class Config:
-        title = "Articulation Chain State"
-
-
-class ConveyorState(BaseModel):
-    mode: str
-    signals_mapping: dict[str, Union[bool, float]]
-    velocity: float
-    direction: Optional[list[float]]
-
-    class Config:
-        title = "Conveyor State"
-
-
-class SurfaceGripperState(BaseModel):
-    mode: Literal["open", "close"]
-    signals_mapping: dict[str, Union[bool, float]]
-
-    class Config:
-        title = "Surface Gripper State"
-
-
-class AnalogSignal(BaseModel):
-    id: str
-    range: list[float]
-
-
-class MockAnalogSignal(BaseModel):
-    io: str = Field(example="analog_out[0]")
-    io_value: Union[bool, float] = Field(example=0.2)
-
-
 class GhostObjectSource(BaseModel):
     name: str
     prim_path: str