chore: New release 2.7.1

Author: sn3ek

examples/nova_sdk/requirements.txt

@@ -1,4 +1,4 @@
 numpy>=1.20.0
 python-dotenv>=1.1.0
 wandelbots-nova>=2.0.0
-wandelbots-isaacsim-api>=2.0.2
+wandelbots-isaacsim-api>=2.7.0

examples/nova_sdk/viewer.py

@@ -30,15 +30,23 @@
     viewer=trajectory_utils.TrajectoryViewer(
         trajectory_success=trajectory_utils.TrajectoryPlanResultConfiguration(
             name="PlannedTrajectory",
-            options=isaac_sim_api.models.TrajectoryOptions(color=[0, 255, 0], width=20),
+            parent_prim_path="/World",
+            options=isaac_sim_api.models.TrajectoryOptions(
+                color=isaac_sim_api.models.Color([0, 255, 0]),
+                width=isaac_sim_api.models.Width([20]),
+            ),
             optimization=trajectory_utils.TrajectoryDrawOptimization(
                 min_time_delta_seconds=0.1,
                 min_pose_distance_millimeters=10.0,
             ),
         ),
         trajectory_failure=trajectory_utils.TrajectoryPlanResultConfiguration(
             name="PlanningFailed",
-            options=isaac_sim_api.models.TrajectoryOptions(color=[255, 0, 0], width=20),
+            parent_prim_path="/World",
+            options=isaac_sim_api.models.TrajectoryOptions(
+                color=isaac_sim_api.models.Color([255, 0, 0]),
+                width=isaac_sim_api.models.Width([20]),
+            ),
             optimization=trajectory_utils.TrajectoryDrawOptimization(
                 min_time_delta_seconds=0.1,
                 min_pose_distance_millimeters=10.0,

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 = "2.4.6"
+version = "2.7.1"
 category = "Simulation"
 title = "Wandelbots NOVA"
 description = "Simulate your robotics cell running on Wandelbots NOVA."
@@ -42,6 +42,7 @@ icon = "data/icon.png"
 "omni.services.transport.client.http_async" = {}
 "omni.kit.test" = {}
 "omni.graph" = {}
+"wandelbots.usd" = { version = "1.1.3" }
 "omni.kit.clipboard" = {}
 
 

exts/wandelbots.omni/docs/CHANGELOG.md

@@ -1,5 +1,29 @@
 # Changelog - Wandelbots NOVA x Nvidia Isaac Sim
 
+## 2.7.1 (2025-09-18)
+
+### Bug Fixes
+
+* Added python version to prebundle path
+
+## 2.7.0 (2025-09-16)
+
+### Features
+
+* Added option to define width/color of individual trajectory points
+
+## 2.6.0 (2025-09-15)
+
+### Features
+
+* **CIS-1948:** Merged ghost objects to single mesh. Materials are now stored next to scene
+
+## 2.5.0 (2025-09-11)
+
+### Features
+
+* **RPS-1733:** Added support for NOVA OpenUSD schema
+
 ## 2.4.6 (2025-09-09)
 
 ### Bug Fixes

exts/wandelbots.omni/icons/icon.png

@@ -8,6 +8,7 @@
 import omni.timeline
 from pxr import Sdf
 import wandelbots.omni.core.collision.shapes as collision_shapes
+from wandelbots.omni.utils.prims import Pose, PrimUtils, WSPose
 
 
 class SphereSweepParameters(pydantic.BaseModel):
@@ -80,7 +81,10 @@ def __del__(self):
         physx_bindings.release_physx_property_query_interface(self._physx_query)
 
     def collision_sweep(
-        self, sweep_args: SweepParameters, stage: Usd.Stage = None
+        self,
+        sweep_args: SweepParameters,
+        stage: Usd.Stage = None,
+        reference_prim_pose: Pose = None,
     ) -> dict[str, collision_shapes.Collider]:
         if not omni.timeline.get_timeline_interface().is_playing():
             raise RuntimeError(
@@ -199,8 +203,19 @@ def on_sweep_hit(hit: physx_bindings.SweepHit) -> bool:
             )
         else:
             raise ValueError(f"Unknown sweep type: {sweep_args.sweep_type}")
-
-        return colliders
+        return {
+            prim_path: collision_shapes.Collider(
+                shape=collider.shape,
+                pose=PrimUtils.get_relative_pose(
+                    reference_prim_pose,
+                    WSPose(pose=collider.pose.position + collider.pose.orientation),
+                ).to_nova_pose()
+                if reference_prim_pose
+                else collider.pose,
+            )
+            for prim_path, collider in colliders.items()
+            if collider is not None
+        }
 
 
 _collision_export_service = CollisionExportService()

exts/wandelbots.omni/wandelbots/omni/core/collision/collision_export_service.py

@@ -20,12 +20,18 @@ def to_nova_pose(self) -> nova_models.Pose:
             orientation=self.pose[3:],
         )
 
+    def __str__(self):
+        return "(" + ", ".join([f"{round(x, 3)}" for x in self.pose]) + ")"
+
 
 class QuatPose(BaseModel):
     pose: conlist(float, min_length=7, max_length=7) = Field(
         [0, 0, 0, 1, 0, 0, 0], description="Pose in quaternion vector format (WS)"
     )
 
+    def __str__(self):
+        return "(" + ", ".join([f"{round(x, 3)}" for x in self.pose]) + ")"
+
 
 class Auth0Credentials(BaseModel):
     host: str
@@ -125,7 +131,12 @@ class GhostObject(BaseModel):
 COORDINATE_SYSTEM = Literal["world", "local"]
 ROTATION_TYPES = Literal["cartesian", "quaternions"]
 
-GHOST_MATERIAL_MDL_FILE = str(pathlib.Path(__file__).parent / "assets" / "wb_ghost.mdl")
+PROJECT_MDL_DIR = pathlib.Path(".wandelbots") / "mdl"
+
+GHOST_MATERIAL_MDL_EXT_FILE = pathlib.Path(__file__).parent / "assets" / "wb_ghost.mdl"
+GHOST_MATERIAL_MDL_PROJECT_FILE = PROJECT_MDL_DIR / "wb_ghost.mdl"
+
+
 SHADER_IDENTIFIER = "GhostTeaching"
 
 GIZMO_USD_FILE = str(pathlib.Path(__file__).parent / "assets" / "gizmo.usd")

exts/wandelbots.omni/wandelbots/omni/datatypes.py

@@ -17,6 +17,7 @@
 from wandelbots.omni.utils.dependencies import remove_extension_packages
 from wandelbots.omni.base import omniservice_base_app
 from wandelbots.omni.environment import host_database
+from wandelbots.omni.ui.schema.schema_extension_ui import SchemaExtensionUI
 from wandelbots.omni.io import get_io_stream_service, IOStreamService
 from wandelbots.omni.manipulators import get_motion_group_service, MotionGroupService
 from wandelbots.omni.utils.base import get_current_version
@@ -31,6 +32,7 @@
 
 class OmniService(omni.ext.IExt):
     def on_startup(self, ext_id) -> None:
+        self.schema_extension = SchemaExtensionUI()
         carb.log_info("Mounting /omniservice")
 
         # Collect services to bind them to the timeline state
@@ -123,6 +125,9 @@ def on_shutdown(self) -> None:
 
         remove_menu_items(self._menu_items, self.menu_item_name)
 
+        if self.instance_list_window:
+            self.instance_list_window.close()
+
         asyncio.get_event_loop().create_task(
             OmniService._async_shutdown(
                 self.motion_group_service, self.io_stream_service
@@ -136,6 +141,9 @@ def on_shutdown(self) -> None:
             carb.log_verbose("Stopping timeline")
             self.timeline.stop()
 
+        self.schema_extension.unregister()
+        self.schema_extension = None
+
     def _create_menu(self, ext_id):
         self._menu_items = [
             make_menu_item_description(

exts/wandelbots.omni/wandelbots/omni/extension.py

@@ -18,20 +18,26 @@
     NOVAControllerData,
 )
 from wandelbots.omni.environment import instance_store
-
-from wandelbots.omni.manipulators.motion_group_service import (
+from wandelbots.omni.manipulators import (
+    is_prim_motion_group,
     get_motion_group_service,
     MotionGroupConfiguration,
     MotionStreamConfiguration,
 )
+from pxr import Usd
+
+try:
+    import isaacsim.core.utils.stage as stage_utils
+except ImportError:
+    import omni.isaac.core.utils.stage as stage_utils  # type: ignore
 
 
 class NOVAInstancesService:
     def __init__(self):
         self._cloud_instances: list[NOVACloudInstance] = []
         self._custom_instances: list[NOVACustomInstance] = []
         self._instances_api = NOVAInstancesAPI()
-        self._connected_motion_groups: dict[str, MotionStreamConfiguration] = {}
+        self._connected_motion_groups: dict[str, MotionGroupConfiguration] = {}
         self._selected_articulations: dict[str, str] = {}
 
     def get_selected_articulation(self, identifier: str) -> Optional[str]:
@@ -115,22 +121,22 @@ def _disconnect_motion_groups(self, instance: NOVAInstance):
             carb.log_verbose(
                 f"Checking motion group at {prim_path} for instance {instance.host}"
             )
-            motion_group = motion_group_service.get_motion_group(prim_path)
+            motion_group = motion_group_service.get_motion_group_configuration(
+                prim_path
+            )
             if not motion_group:
                 continue
 
             if motion_group.motion_stream_configuration.host == instance.host:
                 carb.log_verbose(
-                    f"Removing motion group {motion_group.name} at {prim_path} for instance {instance.host}"
+                    f"Removing motion group {prim_path} for instance {instance.host}"
                 )
                 try:
                     motion_group_service.remove_motion_group(prim_path)
                     identifier = motion_group.identifier
                     self.remove_from_connected_motion_group(identifier)
                 except Exception as e:
-                    carb.log_error(
-                        f"Failed to remove motion group {motion_group.name} at {prim_path}: {e}"
-                    )
+                    carb.log_error(f"Failed to remove motion group {prim_path}: {e}")
 
     def delete_motion_group(
         self,
@@ -175,6 +181,7 @@ def create_motion_group_from_nova(
         use_external_joint_stream: bool,
         callback: Optional[callable] = None,
     ):
+        prim: Usd.Prim = stage_utils.get_current_stage().GetPrimAtPath(prim_path)
         try:
             if not prim_path:
                 carb.log_warn("No articulation path provided for motion group creation")
@@ -191,18 +198,16 @@ def create_motion_group_from_nova(
                 f"Creating motion group '{motion_group_name}' assigned to '{prim_path}'"
             )
 
-            if (
-                motion_group_service.get_motion_group_by_prim_path(prim_path)
-                is not None
-            ):
-                carb.log_warn(f"Articulation at {prim_path} is already connected.")
-                callback(False, "Articulation is already connected.")
-                return
+            if is_prim_motion_group(prim):
+                carb.log_info(
+                    f"Articulation at {prim_path} is already connected. Updating configuration to selected motion group"
+                )
 
             motion_stream_config = MotionStreamConfiguration(
                 host=instance.host,
                 secure_connection=instance.is_secure_connection,
                 cell=controller.cell_name,
+                controller=controller.name,
                 motion_group=motion_group_name,
                 use_external_joint_stream=use_external_joint_stream,
             )
@@ -282,8 +287,36 @@ def is_signed_in(self) -> bool:
         return auth_token != "" and auth_token is not None
 
     @property
-    def connected_motion_groups(self) -> dict[str, MotionStreamConfiguration]:
+    def connected_motion_groups(self) -> dict[str, MotionGroupConfiguration]:
         return self._connected_motion_groups
 
     def handle_authentication_error(self):
         invalidate_auth_token()
+
+    def find_connected_motion_group_by(
+        self,
+        prim_path: str = None,
+        host: str = None,
+        secured: bool = None,
+        cell: str = None,
+        controller: str = None,
+        motion_group: str = None,
+    ) -> list[MotionGroupConfiguration]:
+        results = []
+        for connected_motion_group in self._connected_motion_groups.values():
+            if prim_path and connected_motion_group.prim_path != prim_path:
+                continue
+            stream_config = connected_motion_group.motion_stream_configuration
+            if host and stream_config.host != host:
+                continue
+            if secured is not None and stream_config.secure_connection != secured:
+                continue
+            if cell and stream_config.cell != cell:
+                continue
+            if controller and stream_config.controller != controller:
+                continue
+            if motion_group and stream_config.motion_group != motion_group:
+                continue
+            results.append(connected_motion_group)
+
+        return results

exts/wandelbots.omni/wandelbots/omni/instances/instances_service.py

@@ -1,20 +1,26 @@
 from .motion_stream_configuration import MotionStreamConfiguration
 from .motion_stream_connector import MotionStreamConnector
-from .motion_group import MotionGroup, MotionGroupConfiguration
+from .motion_group import (
+    MotionGroup,
+    MotionGroupConfiguration,
+    is_prim_motion_group,
+    get_motion_group_configuration_from_prim,
+)
 from .motion_group_service import (
     MotionGroupService,
     get_motion_group_service,
 )
-from .utils import get_scene_articulation_roots
+from .utils import get_scene_motion_group_prim_paths
 
 
 __all__ = [
     "MotionStreamConfiguration",
     "MotionGroupService",
-    "MotionStreamConfiguration",
     "MotionStreamConnector",
     "MotionGroup",
     "MotionGroupConfiguration",
     "get_motion_group_service",
-    "get_scene_articulation_roots",
+    "get_scene_motion_group_prim_paths",
+    "is_prim_motion_group",
+    "get_motion_group_configuration_from_prim",
 ]