NVIDIA Isaac Lab Files

👀 Overview

Isaac Lab 2.2 brings major upgrades across simulation capabilities, tooling, and developer experience. It expands support for advanced physics features, new environments, and improved testing and documentation workflows. This release includes full compatibility with Isaac Sim 5.0 as well as backwards compatibility with Isaac Sim 4.5.

Key highlights of this release include:

• Enhanced Physics Support: Updated joint friction modeling using the latest PhysX APIs, added support for spatial tendons, and improved surface gripper interactions.
• New Environments for Imitation Learning: Introduction of two new GR1 mimic environments, with domain randomization and visual robustness evaluation, and improved pick-and-place tasks.
• New Contact-Rich Manipulation Tasks: Integration of FORGE and AutoMate tasks for learning fine-grained contact interactions in simulation.
• Teleoperation Improvements: Teleoperation tools have been enhanced with configurable parameters and CloudXR runtime updates, including head tracking and hand tracking.
• Performance & Usability Improvements: Includes support for Stage in Memory and Cloning in Fabric for faster scene creation, new OVD recorder for large-scene GPU-based animation recording, and FSD (Fabric Scene Delegate) for improved rendering speed.
• Improved Documentation: The documentation has been extended and updated to cover new features, resolve common issues, and streamline setup, including updates to teleop system requirements, VS Code integration, and Python environment management.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.1.1...v2.2.0

🔆 Highlighted Features

FORGE environments

As introduced in the FORGE paper, these environments focus on multi-stage assembly tasks that require force-aware manipulation. For more details, please check the PR [#2968].

https://github.com/user-attachments/assets/0f307974-d0e8-40c4-a5b0-2f5c5d292668

AutoMate environments

The Automate effort creates a large assembly dataset for training policies over a wide range of assemblies. All 100 assembly parts and their respective environments are now a part of the environment suite. For more information, please check the PR [#2507]

https://github.com/user-attachments/assets/50bd0d4c-e281-405f-bdb2-6b77854ed0bb

Isaac Lab Evaluation Tasks

To simulate and evaluate manipulation policies (such as the Isaac GR00T N1 model), new industrial manipulation tasks using a humanoid robot are now available as a part of the IsaacLabEvalTasks effort. For more information, please check the repository: https://github.com/isaac-sim/IsaacLabEvalTasks

https://github.com/user-attachments/assets/dc58594a-8654-49ad-8bc9-db636f156330

💡Isaac Sim 5.0 Updates

• Fixes rendering issues on Blackwell GPUs that previously resulted in overly noisy renders
• Updates Python version from 3.10 to 3.11
• Updates PyTorch version to torch 2.7.0+cu128, which will include Blackwell support
• Drops official support for Ubuntu 20.04, we now officially support Ubuntu 22.04 and 24.04 Linux platforms
• Isaac Sim 5.0 no longer sets /app/player/useFixedTimeStepping=False by default. We now do this in Isaac Lab.
• isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction is now removed. The simulation will always behave as if this attribute is set to true.
• Native Livestreaming support has been removed. LIVESTREAM=1 can now be used for WebRTC streaming over public networks and LIVESTREAM=2 for private and local networks with WebRTC streaming.
• Some assets in Isaac Sim have been reworked and restructured. Notably, the following asset paths were updated:
• Robots/Ant/ant_instanceable.usd --> Robots/IsaacSim/Ant/ant_instanceable.usd
• Robots/Humanoid/humanoid_instanceable.usd --> Robots/IsaacSim/Humanoid/humanoid_instanceable.usd
• Robots/ANYbotics/anymal_instanceable.usd --> Robots/ANYbotics/anymal_c/anymal_c.usd
• Robots/ANYbotics/anymal_c.usd --> Robots/ANYbotics/anymal_c/anymal_c.usd
• Robots/Franka/franka.usd --> Robots/FrankaRobotics/FrankaPanda/franka.usd
• Robots/AllegroHand/allegro_hand_instanceable.usd --> Robots/WonikRobotics/AllegroHand/allegro_hand_instanceable.usd
• Robots/Crazyflie/cf2x.usd --> Robots/Bitcraze/Crazyflie/cf2x.usd
• Robots/RethinkRobotics/sawyer_instanceable.usd --> Robots/RethinkRobotics/Sawyer/sawyer_instanceable.usd
• Robots/ShadowHand/shadow_hand_instanceable.usd --> Robots/ShadowRobot/ShadowHand/shadow_hand_instanceable.usd

✨ New Features

• Adds FORGE tasks for contact-rich manipulation with force sensing to IsaacLab by @noseworm in [#2968]
• Adds two new GR1 environments for IsaacLab Mimic by @peterd-NV
• Adds stack environment, scripts for Cosmos, and visual robustness evaluation by @shauryadNv
• Updates Joint Friction Parameters to Isaac Sim 5.0 PhysX APIs by @ossamaAhmed in [87130f]
• Adds support for spatial tendons by @ossamaAhmed in [7a176f]
• Adds support and example for SurfaceGrippers by @AntoineRichard in [14a3a7]
• Adds support for stage in memory by @matthewtrepte in [33bcf6]
• Adds OVD animation recording feature by @matthewtrepte

🔧 Improvements

• Enables FSD for faster rendering by @nv-mm
• Sets rtx.indirectDiffuse.enabled to True for performance & balanced rendering presets by @matthewtrepte
• Changes runner for post-merge pipeline on self-hosted runners by @nv-apoddubny
• Fixes and improvements for CI pipeline by @nv-apoddubny
• Adds flaky annotation for tests by @kellyguo11
• Updates Mimic test cases to pytest format by @peterd-NV
• Updates cosmos test files to use pytest by @shauryadNv
• Updates onnx and protobuf version due to vulnerabilities by @kellyguo11
• Updates minimum skrl version to 1.4.3 by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/3053
• Updates to Isaac Sim 5.0 by @kellyguo11
• Updates docker CloudXR runtime version by @lotusl-code
• Removes xr rendering mode by @rwiltz
• Migrates OpenXRDevice from isaacsim.xr.openxr to omni.xr.kitxr by @rwiltz
• Implements teleop config parameters and device factory by @rwiltz
• Updates pick place env to use steering wheel asset by @peterd-NV
• Adds a CLI argument to set epochs for Robomimic training script by @peterd-NV

🐛 Bug Fixes

• Fixes operational space unit test to avoid pi rotation error by @ooctipus
• Fixes GLIBC errors with importing torch before AppLauncher by @kellyguo11 in [c80e2a]
• Fixes rendering preset by @matthewtrepte in [cc0dab]
• Fixes callbacks with stage in memory and organize environment tests by @matthewtrepte in [4dd6a1]
• Fixes XR and external camera bug with async rendering by @rwiltz in [c80e2a]
• Disables selection for rl_games when marl is selected for template generator by @ooctipus
• Adds check for .gitignore when generating template by @kellyguo11
• Fixes camera obs errors in stack instance randomize envs by @peterd-NV
• Fixes parsing for play envs by @matthewtrepte
• Fixes issues with consecutive python exe calls in isaaclab.bat by @kellyguo11
• Fixes spacemouse add callback function by @peterd-NV in [72f05a]
• Fixes humanoid training with new velocity_limit_sim by @AntoineRichard

📄 Documentation

• Adds note to mimic cosmos pipeline doc for eval by @shauryadNv
• Updates teleop docs for 2.2 release by @rwiltz
• Fixes outdated dofbot path in tutorial scripts by @mpgussert
• Updates docs for VS Code IntelliSense setup and JAX installation by @Toni-SM
• Updates Jax doc to overwrite version < 0.6.0 for torch by @kellyguo11
• Adds docs for fabric cloning & stage in memory by @matthewtrepte
• Updates driver requirements to point to our official technical docs by @mpgussert
• Adds warning for ovd recording warning logs spam by @matthewtrepte
• Adds documentation to specify HOVER version and known GLIBCXX error by @kellyguo11
• Updates teleop system requirements doc by @lotusl-code
• Add network requirements to cloudxr teleop doc by @lotusl-code