NVIDIA Isaac Lab Files

👀 Overview

This is a minor patch release with some improvements and bug fixes.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.2.0...v2.2.1

✨ New Features

• Adds contact point location reporting to ContactSensor by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/2842
• Adds environments actions/observations descriptors for export by @AntoineRichard in https://github.com/isaac-sim/IsaacLab/pull/2730
• Adds RSL-RL symmetry example for cartpole and ANYmal locomotion by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/3057

🔧 Improvements

Core API

• Enhances Pink IK controller with null-space posture control and improv… by @michaellin6 in https://github.com/isaac-sim/IsaacLab/pull/3149
• Adds periodic logging when checking USD path on Nucleus server by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3221
• Disallows string value written in sb3_ppo_cfg.yaml get evaluated in process_sb3_cfg by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3110

Infrastructure

• Application Settings
• Disables rate limit for headless and headless rendering app by @matthewtrepte, @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3219, https://github.com/isaac-sim/IsaacLab/pull/3089
• Disables rtx.indirrectDiffuse.enabled in render preset balanced and performance modes by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3240
• Sets profiler backend to NVTX by default by @soowanpNV, @rwiltz in https://github.com/isaac-sim/IsaacLab/pull/3238, https://github.com/isaac-sim/IsaacLab/pull/3255
• Dependencies
• Adds hf-xet license by @hhansen-bdai in https://github.com/isaac-sim/IsaacLab/pull/3116
• Fixes new typing-inspection dependency license by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3237
• Testing & Benchmarking
• Adds basic validation tests for scale-based randomization ranges by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/3058
• Adds SensorBase tests by @jtigue-bdai in https://github.com/isaac-sim/IsaacLab/pull/3160
• Repository Utilities
• Adds improved readout from install_deps.py by @hhansen-bdai in https://github.com/isaac-sim/IsaacLab/pull/3104
• Fixs isaaclab.sh to detect isaacsim_version accurately 4.5 or >= 5.0 by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3139
• Disables verbose printing in conftest.py by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3291
• Updates pytest flags to add for isaacsim integration testsing by @ben-johnston-nv in https://github.com/isaac-sim/IsaacLab/pull/3247
• Updates CodeOwners to be more fine-grained by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/3090
• Fixes minor issues in CI by @nv-apoddubny in https://github.com/isaac-sim/IsaacLab/pull/3120

🐛 Bug Fixes

Core API

• Asset Interfaces
• Fixes setting friction coefficients into physx in the articulation classes by @ossamaAhmed in https://github.com/isaac-sim/IsaacLab/pull/3243
• Sets joint_friction_coeff only for selected physx_env_ids by @ashwinvkNV in https://github.com/isaac-sim/IsaacLab/pull/3119
• Manager Interfaces
• Fixes observation space Dict for non-concatenated groups only keeps last term by @CSCSX in https://github.com/isaac-sim/IsaacLab/pull/3134
• MDP Terms
• Fixes termination term effort limit check logic by @moribots in https://github.com/isaac-sim/IsaacLab/pull/3163
• Broadcasts environment ids inside mdp.randomize_rigid_body_com by @Foruck in https://github.com/isaac-sim/IsaacLab/pull/3164
• Fixes IndexError in reset_joints_by_scale and reset_joints_by_offset by @Creampelt in https://github.com/isaac-sim/IsaacLab/pull/2949
• Fixes terrain_out_of_bounds to return tensor instead of bool by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3180

Infrastructure

• Fixes distributed training hanging issue by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3273
• Disables generate internal template when detecting isaaclab install via pip by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3225
• Fixes typo in isaaclab.bat by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3272
• Updates app pathing for user-provided rendering preset mode by @matthewtrepte in https://github.com/isaac-sim/IsaacLab/pull/3148

📜 Documentation

• Adds documentation for Newton integration by @mpgussert in https://github.com/isaac-sim/IsaacLab/pull/3271
• Adapts FAQ section in docs with Isaac Sim open-sourcing by @Mayankm96 in https://github.com/isaac-sim/IsaacLab/pull/3105
• Changes checkpoint path in rsl-rl to an absolute path in documentation by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3151
• Fix MuJoCo link in docs by @fan-ziqi in https://github.com/isaac-sim/IsaacLab/pull/3181
• Adds client version direction to XR document by @lotusl-code in https://github.com/isaac-sim/IsaacLab/pull/3246
• Fixes broken link in doc by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/3274
• Fix typo in list_envs.py script path by @fbeltrao in https://github.com/isaac-sim/IsaacLab/pull/3282
• Fixes Franka blueprint env ID in docs by @louislelay in https://github.com/isaac-sim/IsaacLab/pull/3213
• Fixes template docs and restructure imitation learning docs by @pascal-roth in https://github.com/isaac-sim/IsaacLab/pull/3283

💔 Breaking Changes

• Improves termination manager logging to report aggregated percentage of environments done due to each term by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3107

🤗 New Contributors

• @hhansen-bdai made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3116
• @ashwinvkNV made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3119
• @Creampelt made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/2949
• @soowanpNV made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3238
• @moribots made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3163
• @CSCSX made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3134
• @ossamaAhmed made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3243
• @Foruck made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3164
• @lotusl-code made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3246
• @ben-johnston-nv made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3247
• @rwiltz made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3255
• @michaellin6 made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3149
• @fbeltrao made their first contribution in https://github.com/isaac-sim/IsaacLab/pull/3282