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👀 Overview

This release has been in development over the past few months and includes a significant number of updates, enhancements, and new features across the entire codebase. Given the volume of changes, we've grouped them into relevant categories to improve readability. This version is compatible with NVIDIA Isaac Sim 4.5.

We appreciate the community’s patience and contributions in ensuring quality and stability throughout. We're aiming for more frequent patch releases moving forward to improve the developer experience.

Note: This minor release does not include a Docker image or pip package.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.1.0...v2.1.1

✨ New Features

🔧 Improvements

Core API

Tasks API

Infrastructure

🐛 Bug Fixes

Core API

Tasks API

Example Tasks

📜 Documentation

💔 Breaking Changes

While this release mainly focuses around various improvements and bug fixes, there are some noticeable behavior changes that are worth highlighting. These are summarized below.

Disabling of additional stabilization pass in PhysX settings

Previously, we were setting the PhysxCfg.enable_stabilization to True by default. This flag enabled additional stabilization processing by the underlying physics engine to improve the stability of complex interactions between large number of bodies.

As discussed in the PR [#2628], enabling this flag led to incorrect contact forces report. Under the hood, PhysX introduces various non-physical heuristics to perform stabilization of large number of contacts. However, since the solver has improved, these heuristics are no longer applicable or needed for robotics applications. Hence, we have changed the flag enable_stabilization to False by default.

Clipping of torques inside the DC Motor

Previously, the clipping of torques inside the DC Motor did not account for the negative power regions properly. With the changes introduced in PR [#2300], this should be handled properly.

🤗 New Contributors

Source: README.md, updated 2025-07-30