chore: New release 2.4.6

Author: sn3ek

exts/wandelbots.omni/config/extension.toml

@@ -1,9 +1,9 @@
 [core]
 reloadable = true
-order = 0
+order = 1000      # Make sure all .dlls are loaded before this extension
 
 [package]
-version = "2.3.0"
+version = "2.4.6"
 category = "Simulation"
 title = "Wandelbots NOVA"
 description = "Simulate your robotics cell running on Wandelbots NOVA."

exts/wandelbots.omni/data/requirements.txt renamed to exts/wandelbots.omni/config/requirements.txt

@@ -1,5 +1,5 @@
 httpx==0.28.1
 scikit-learn==1.6.1
-wandelbots-nova==2.9.0
+wandelbots-api-client==25.8.0.dev71
 python-decouple==3.8
 tenacity==9.1.2

exts/wandelbots.omni/docs/CHANGELOG.md

@@ -1,5 +1,49 @@
 # Changelog - Wandelbots NOVA x Nvidia Isaac Sim
 
+## 2.4.6 (2025-09-09)
+
+### Bug Fixes
+
+* Fixed missing dll on extension startup
+
+## 2.4.5 (2025-09-06)
+
+### Bug Fixes
+
+* Check compatability on base_version
+
+## 2.4.4 (2025-09-05)
+
+### Bug Fixes
+
+* Update order of environments for authentication
+
+## 2.4.3 (2025-09-05)
+
+### Bug Fixes
+
+* Add default config if no alternative environments are given for authentication.
+
+## 2.4.2 (2025-08-28)
+
+### Bug Fixes
+
+* **RPS-1990:** Fixed choosing proper portal API
+
+## 2.4.1 (2025-08-27)
+
+### Bug Fixes
+
+* Added reset to ogn node config once timeline stops
+* Fixed model_name namespace conflict
+* Updated portal login to latest api package
+
+## 2.4.0 (2025-08-27)
+
+### Features
+
+* **RPS-1922:** Compatability with 25.8.0
+
 ## 2.3.0 (2025-08-21)
 
 ### Features

exts/wandelbots.omni/wandelbots/omni/environment.py

@@ -5,6 +5,7 @@
 )
 from decouple import Config, RepositoryEnv
 import os
+import toml
 
 host_database = InMemoryDatabase()
 credential_store = CredentialStore()
@@ -27,3 +28,19 @@ def load_env() -> Config:
 
     config = Config(RepositoryEnv(env_path))
     return config
+
+
+def load_config(filename: str = None) -> dict:
+    if filename is None:
+        return {}
+
+    start_path = os.path.dirname(os.path.dirname(os.path.dirname(__file__)))
+    config_path = os.path.join(start_path, "config", filename)
+    if not os.path.isfile(config_path):
+        return {}
+
+    if config_path is None:
+        return {}
+
+    config = toml.load(config_path)
+    return config

exts/wandelbots.omni/wandelbots/omni/instances/instances_api.py

@@ -13,8 +13,8 @@
 )
 from wandelbots.omni.utils.auth import (
     get_auth_token,
+    get_portal_api_url,
     invalidate_auth_token,
-    get_auth_environment,
 )
 from wandelbots_api_client.v2.api.cell_api import CellApi
 from wandelbots_api_client.v2.api.controller_api import ControllerApi
@@ -25,9 +25,7 @@
 
 class NOVAInstancesAPI:
     def __init__(self):
-        environment = get_auth_environment()
-        env_prefix = f"{environment}." if environment and environment != "prod" else ""
-        self._base_url = f"https://api.portal.{env_prefix}wandelbots.io/v1"
+        self._base_url = get_portal_api_url()
 
     def get_cloud_instances(self) -> list[NOVACloudInstance]:
         token = get_auth_token()
@@ -55,7 +53,7 @@ def get_cloud_instances(self) -> list[NOVACloudInstance]:
         except requests.HTTPError as e:
             if e.response.status_code == 401:
                 carb.log_warn(
-                    "Authentication token is invalid (401). Invalidating token."
+                    "Authentication token for cloud instances is invalid (401). Invalidating token."
                 )
                 invalidate_auth_token()
                 return []
@@ -140,7 +138,7 @@ def toggle_instance_status(self, instance: NOVACloudInstance):
         except requests.HTTPError as e:
             if e.response.status_code == 401:
                 carb.log_warn(
-                    "Authentication token is invalid (401). Invalidating token."
+                    f"Authentication token for host '{instance.host}' is invalid (401). Invalidating token."
                 )
                 invalidate_auth_token()
             else:
@@ -232,7 +230,7 @@ async def _fetch_single_cell_data(
                     motion_groups.append(
                         NOVAMotionGroupData(
                             name=motion_group_name,
-                            model_name=motion_group_desc.motion_group_model.replace(
+                            motion_group_model_name=motion_group_desc.motion_group_model.replace(
                                 "_", " "
                             ),
                         )

exts/wandelbots.omni/wandelbots/omni/instances/models.py

@@ -6,6 +6,7 @@
 import wandelbots_api_client.v2 as wb_v2
 from wandelbots.omni.utils.api import get_api_client
 from wandelbots.omni.ui.colors import NOVAColor
+from packaging.version import Version
 
 
 class NOVAInstance(BaseModel):
@@ -37,10 +38,21 @@ def status(self) -> str:
     def create_api_client(self) -> wb_v2.ApiClient:
         raise NotImplementedError("Subclasses must implement the get_api_client method")
 
+    @property
+    def is_compatible(self) -> bool:
+        if self.version is None:
+            return False
+        try:
+            return Version(self.version).base_version >= Version("25.8.0").base_version
+        except Exception:
+            return False
+
     @property
     def status_color(self):
         if not self.is_reachable:
             return NOVAColor.ERROR_MAIN.color
+        elif not self.is_compatible:
+            return NOVAColor.WARNING_MAIN.color
         elif self.cells:
             return NOVAColor.SUCCESS_MAIN.color
         else:
@@ -116,7 +128,7 @@ def create_api_client(self) -> wb_v2.ApiClient:
 
 class NOVAMotionGroupData(BaseModel):
     name: str
-    model_name: str
+    motion_group_model_name: str
 
 
 class NOVAControllerData(BaseModel):

exts/wandelbots.omni/wandelbots/omni/io/io_stream_service.py

@@ -151,7 +151,7 @@ async def _unsubscribe(self, subscription_id: Subscription.Id):
 
             self._remove_subscription(subscription_id)
 
-            if stream_running:
+            if stream_running and len(self.io_subscriptions.keys()) > 0:
                 await self.start_stream()
 
     def _add_subscription(self, subscription: Subscription, ios: list[str]):
@@ -188,6 +188,7 @@ def _remove_subscription(self, subscription_id: Subscription.Id):
 
     async def _restart_stream(self):
         """Might be used when a subscription changed"""
+        carb.log_verbose(f"Restarting stream {self.cell}/{self.controller}")
         await self.stop_stream()
         await self.start_stream()
 
@@ -219,7 +220,9 @@ async def _receive_io_state(self, io_result_data: str):
     async def start_stream(self):
         async with self._io_stream_lock:
             if len(self.io_subscriptions.keys()) == 0:
-                carb.log_warn(f"{self.cell}/{self.controller} has no ios")
+                carb.log_verbose(
+                    f"Trying to start {self.cell}/{self.controller} without ios"
+                )
                 return
 
             if self.io_stream and self.io_stream.streaming:

exts/wandelbots.omni/wandelbots/omni/manipulators/motion_group_service.py

@@ -6,7 +6,7 @@
 try:
     import isaacsim.core.utils.prims as prims_utils
 except ImportError:
-    import omni.isaac.core.utils.prims as prims_utils
+    import omni.isaac.core.utils.prims as prims_utils  # type: ignore
 
     carb.log_warn("motion_group_service is using legacy isaac sim imports")
 import omni.timeline
@@ -27,7 +27,6 @@ def __init__(self):
         self.timeline = omni.timeline.get_timeline_interface()
 
     def has_motion_group(self, prim_path: str) -> bool:
-        print(f"Host database motion groups: {host_database['motion_groups']}")
         return prim_path in host_database["motion_groups"]
 
     def get_all_motion_group_prim_paths(self) -> list[str]:

exts/wandelbots.omni/wandelbots/omni/manipulators/motion_stream_connector.py

@@ -83,7 +83,7 @@ async def open(self):
         self.api_configuration = self._get_api_configuration(get_auth_token())
 
         result = await self.get_motion_group_state()
-        self.stream_joint_count = len(result.joint_position.joints)
+        self.stream_joint_count = len(result.joint_position)
         carb.log_info(
             f"Start {self.configuration.motion_group} jointCount={self.stream_joint_count} externalJoints={self.is_external_joint_stream}"
         )
@@ -207,12 +207,12 @@ async def _parse(self, data: dict):
             )
 
     def _update_joints(self, motion_response_result: wb_models.MotionGroupState):
-        self._last_joints = motion_response_result.joint_position.joints
+        self._last_joints = motion_response_result.joint_position
 
         if self.timeline.is_stopped():
             return
 
-        self.apply_joints(motion_response_result.joint_position.joints)
+        self.apply_joints(motion_response_result.joint_position)
 
     async def _update_joints_in_external_mode(
         self, motion_response_result: list[wb_models.ExternalJointStreamDatapoint]

exts/wandelbots.omni/wandelbots/omni/ogn/nodes/OgnOnIOChange.py

@@ -51,16 +51,19 @@ def set_metadata(self, robot_prim: list[pxr.Sdf.Path], io_id: str):
         self.robot_config = self.robot_service.get_motion_group_by_prim_path(
             self.robot_prim
         )
-        motion_stream_config = self.robot_config.motion_stream_configuration
         if self.robot_config is None:
             raise ValueError(
                 f"No robot configuration found for {self.robot_prim}. Make sure to create a robot for the selected prim"
             )
+
+        motion_stream_config = self.robot_config.motion_stream_configuration
+
         self.api_configuration = ApiConfiguration(
             host=motion_stream_config.host,
             secure_connection=motion_stream_config.secure_connection,
             access_token=get_auth_token(),
         )
+
         self.io_id = io_id
         self.io_sub = asyncio.get_event_loop().run_until_complete(
             get_io_stream_service().subscribe(
@@ -72,6 +75,11 @@ def set_metadata(self, robot_prim: list[pxr.Sdf.Path], io_id: str):
             )
         )
 
+    def reset(self):
+        self.io_sub = None
+        self.robot_prim = None
+        self.io_id = None
+
 
 class OgnOnIOChange:
     """
@@ -96,17 +104,17 @@ def release(node):
     @staticmethod
     def compute(db: OgnOnIOChangeDatabase) -> bool:
         """Compute the outputs from the current input"""
+        state: OgnOnIOChangeState = db.per_instance_state
 
         if not timeline.is_playing():
+            state.reset()
             return
 
         if len(db.inputs.robot) == 0:
             db.log_error("Robot root prim not defined")
             return False
 
         try:
-            state: OgnOnIOChangeState = db.per_instance_state
-
             if db.inputs.robot[0] != state.robot_prim or db.inputs.io_id != state.io_id:
                 state.set_metadata(db.inputs.robot, db.inputs.io_id)