# Changelog
## [4.0.6] - 2025-05-19
### Changed
- Update copyright and license to apache v2.0

## [4.0.5] - 2025-04-04
### Changed
- Version bump to fix extension publishing issues

## [4.0.4] - 2025-03-26
### Changed
- Cleanup and standardize extension.toml, update code formatting for all code

## [4.0.3] - 2025-03-25
### Changed
- Add import tests for deprecated extensions

## [4.0.2] - 2025-01-21
### Changed
- Update extension description and add extension specific test settings

## [4.0.1] - 2024-10-24
### Changed
- Updated dependencies and imports after renaming

## [4.0.0] - 2024-09-23
### Deprecated
- Extension deprecated since Isaac Sim 4.5.0. Replaced by isaacsim.sensors.physx.

## [3.1.2] - 2024-07-31
### Fixed
- Fix deprecation warning and use Semantics instead of pxr.Semantics

## [3.1.1] - 2024-07-09
### Changed
- Added deprecation warnings for the physx ultrasonic sensors

## [3.1.0] - 2024-07-08
### Removed
- Deprecated and unused omni.debugdraw dependency

## [3.0.1] - 2024-04-16
### Fixed
- Update IStageUpdate usage to fix deprecation error

## [3.0.0] - 2024-03-12
### Changed
- Extension refactored into multiple components.  See omni.isaac.range_sensor.ui and omni.isaac.range_sensor.examples

## [2.1.2] - 2024-02-02
### Changed
- Updated path to the nucleus extension

## [2.1.1] - 2024-01-18
### Changed
- Changed get_assets_root_path to get_assets_root_path_async for the unit tests

## [2.1.0] - 2024-01-08
### Changed
- Moved header files to extension

## [2.0.2] - 2023-12-13
### Fixed
- Issue where ReadLidar nodes ticking twice on the same set of data if run twice per frame

## [2.0.1] - 2023-11-13
### Fixed
- Updated documentation link

## [2.0.0] - 2023-09-22
### Removed
- get_semantic_data returns an empty array

### Added
- get_prim_data, returns the prim path for each lidar hit, use this to access semantic data on a prim

## [1.1.0] - 2023-09-05
### Changed
- Renamed Create > Isaac > Sensor > Lidar to PhysX Lidar

## [1.0.0] - 2023-08-28
### Changed
- Output of IsaacReadLidarPointCloud changed from pointCloudData to data

## [0.8.7] - 2023-08-25
### Changed
- Added standard out fail pattern for the expected no prim found edge case for the ogn test

## [0.8.6] - 2023-08-17
### Fixed
- Fixed blackness in sensor examples

## [0.8.5] - 2023-08-10
### Changed
- Changed lidar prim types from bundle to target

## [0.8.4] - 2023-06-23
### Added
- Lidar now tracks time at which each beam was traced. (Bug 4143606)
- OgnIsaacReadLidarBeams provides beam times as output. (Bug 4143606)

## [0.8.3] - 2023-06-12
### Fixed
- app update event subscribers in examples are created even when not using example

## [0.8.2] - 2023-06-12
### Changed
- Update to kit 105.1
- usd 22.11 schema inheritance
- pxr::RangeSensorSchemaUltrasonicArray renamed pxr::RangeSensorUltrasonicArray
- pxr::RangeSensorSchemaUltrasonicFiringGroup renamed pxr::RangeSensorUltrasonicFiringGroup
- pxr::RangeSensorSchemaUltrasonicEmitter renamed pxr::RangeSensorUltrasonicEmitter
- pxr::RangeSensorSchemaLidar renamed pxr::RangeSensorLidar
- pxr::RangeSensorSchemaGeneric renamed pxr::RangeSensorGeneric
- pxr::RangeSensorSchemaRangeSensor renamed pxr::RangeSensorRangeSensor

## [0.8.1] - 2023-02-08
### Fixed
- Lidar Semantic IDs were incorrect when rotation rate was not zero

## [0.8.0] - 2023-01-25
### Added
- Fabric support

## [0.7.2] - 2023-01-25
### Fixed
- remove un-needed cpp ogn files from extension

## [0.7.1] - 2023-01-05
### Fixed
- Bug where parent xform scale would cause lidar beams to be incorrect.
- onclick_fn warning when creating UI

## [0.7.0] - 2022-12-12
### Added
- Option to either stream data or repeat data for generic sensor

## [0.6.4] - 2022-12-12
### Fixed
- Data streaming in menu for lidar and ultrasonic sensor are now updating and refreshed when new sensors gets loaded

## [0.6.3] - 2022-11-17
### Fixed
- Zenith Range should be 0,0 if high lod is false and lidar is 2d

## [0.6.2] - 2022-11-03
### Fixed
- Multiple lidars now have the same semantic colors, using a fixed random seed for debug semantic color generation

## [0.6.1] - 2022-10-03
### Fixed
- Fixes for kit 104.0

## [0.6.0] - 2022-09-27
### Changed
- tests to use nucleus assets

### Removed
- usd files local to extension

## [0.5.1] - 2022-09-07
### Fixed
- Fixes for kit 103.5

## [0.5.0] - 2022-09-01
### Changed
- Remove legacy viewport calls from samples

## [0.4.4] - 2022-08-31
### Fixed
- Generic Sensor API updated to use getPointCloud instead of getHitPosData

### Changed
- Remove direct legacy viewport calls

## [0.4.3] - 2022-08-14
### Fixed
- Semantic APIs that ended with a random id are supported now, only the first semantic API applied is used.
- Active semantic IDs only updated if Lidar was moved/changed, IDs are now cleared each frame to fix this

## [0.4.2] - 2022-05-26
### Fixed
- Lidar semantics not getting visualized properly

## [0.4.1] - 2022-05-02
### Changed
- Output data type from float to pointf in Isaac Read Lidar Point Cloud OG Node

## [0.4.0] - 2022-04-27
### Added
- Isaac Read Lidar Point Cloud OG Node

### Changed
- Improved perf for Isaac Read Lidar Beams OG Node

## [0.3.0] - 2022-04-26
### Added
- Isaac Read Lidar Beams OG Node

## [0.2.2] - 2022-03-10
### Changed
- Use orient op for commands that create sensors

## [0.2.1] - 2022-03-04
### Changed
- Lidar sensor is now fully multithreaded per sensor and per ray
- Improved use of tasking framework and simplified scan logic
- added fabric support to lidar

## [0.2.0] - 2022-02-11
### Added
- Sequence number to track frame count
- AzimuthRange and ZenithRange in Lidar sensor to track beginning and end angles of a scan

### Fixed
- Lidar sensor to prevent first frame from being outputted

## [0.1.5] - 2021-12-13
### Fixed
- generic sensor outputting sensor pattern image file

## [0.1.4] - 2021-07-23
### Added
- USS material support

## [0.1.3] - 2021-07-12
### Added
- New UI

## [0.1.2] - 2021-06-03
### Added
- Add generic, lidar, radar, ultrasonic range sensors

## [0.1.1] - 2020-12-11
### Added
- Add lidar unit tests to extension

## [0.1.0] - 2020-12-07
### Added
- Initial version of Isaac Sim Range sensor extension
