> This page is for version Release 2.1. > For other versions, use one of these documentation indexes: > - Release 3.0 (default): https://docs.nvidia.com/isaaclab/3.0/llms.txt > - Release 2.3: https://docs.nvidia.com/isaaclab/2.3/llms.txt > - Release 2.2: https://docs.nvidia.com/isaaclab/2.2/llms.txt > - Release 2.1: https://docs.nvidia.com/isaaclab/2.1/llms.txt > For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.nvidia.com/isaaclab/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.nvidia.com/isaaclab/_mcp/server. # Release Notes The release notes are now available in the [Isaac Lab GitHub repository](https://github.com/isaac-sim/IsaacLab/releases). We summarize the release notes here for convenience. ## v2.0.2 ### Overview This patch release focuses on improving actuator configuration and fixing key bugs while reverting unintended behavioral changes from v2.0.1. **We strongly recommend switching** to this new version if you're migrating from a pre-2.0 release of Isaac Lab. **Key Changes:** * **Actuator Limit Handling**: Introduced `isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim` and `isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to clearly distinguish simulation solver limits from actuator model constraints. Reverted implicit actuator velocity limits to pre-v2.0 behavior * **Simulation configuration update**: Removed `isaaclab.sim.SimulationCfg.disable_contact_processing` flag to simplify behavior * **Rendering configuration update**: Reverted to pre-2.0 configuration to improve the quality of the render product * **Tiled camera fixes**: Fixed motion vector processing and added a hotfix for retrieving semantic images from the `~isaaclab.sensors.TiledCamera` * **WebRTC Support**: Added IP specification for live-streaming **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v2.0.1...v2.0.2](https://github.com/isaac-sim/IsaacLab/compare/v2.0.1...v2.0.2) ### New Features * Adds `isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim` and `isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to actuator. * Adds WebRTC livestreaming support with IP specification. ### Improvements * Adds guidelines and examples for code contribution * Separates joint state setters inside Articulation class * Implements deterministic evaluation for skrl's multi-agent algorithms * Adds new extensions to `pyproject.toml` * Updates docs on Isaac Sim binary installation path and VSCode integration * Removes remaining deprecation warning in RigidObject deprecation * Adds security and show\&tell notes to documentation * Updates docs for segmentation and 50 series GPUs * Adds workaround for semantic segmentation issue with tiled camera ### Bug Fixes * Fixes offset from object obs for Franka stacking env when using parallel envs * Adds scene update to ManagerBasedEnv, DirectRLEnv, and MARL envs initialization * Loads actuator networks in eval() mode to prevent gradients * Fixes instructions on importing ANYmal URDF in docs * Fixes setting of root velocities in the event term `~isaaclab.mdp.reset_root_state_from_terrain` * Fixes `activate_contact_sensors` when using `~isaaclab.sim.MultiUsdFileCfg` * Fixes misalignment in motion vectors from `~isaaclab.sim.TiledCamera` * Sets default tensor device to CPU for Camera rot buffer ### Breaking Changes * Reverts the setting of joint velocity limits for implicit actuators * Removes `disable_contact_processing` flag from SimulationContext * Reverts to old render settings in kit experience files ### Migration Guide > **Warning** > > We strongly recommend reviewing the details to fully understand the change in behavior, > as it may impact the deployment of learned policies. Please open an issue on GitHub if > you face any problems. #### Introduction of simulation's effort and velocity limits parameters in ActuatorBaseCfg We have introduced the configuration variables `isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim` and `isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to the `isaaclab.actuators.ActuatorBaseCfg` to allow users to set the **simulation** joint velocity and effort limits through the actuator configuration class. Previously, we were overusing the attributes `isaaclab.actuators.ActuatorBaseCfg.velocity_limit` and `isaaclab.actuators.ActuatorBaseCfg.effort_limit` inside the actuator configuration. A series of changes in-between led to a regression from v1.4.0 to v2.0.1 release of IsaacLab. To make this clearer to understand, we note the change in their behavior in a tabular form: | Actuator Type | Attribute | v1.4.0 Behavior | v2.0.1 Behavior | | ----------------------------------- | --------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | | Implicit Implicit Explicit Explicit | `velocity_limit` `effort_limit` `velocity_limit` `effort_limit` | Ignored, not set into simulation Set into simulation Used by actuator models (e.g., DC Motor), not set into simulation Used by actuator models, not set into simulation | Set into simulation Set into simulation Used by actuator models (e.g., DC Motor), set into simulation Used by actuator models, set into simulation | Setting the limits from the configuration into the simulation directly affects the behavior of the underlying physics engine solver. This impact is particularly noticeable when velocity limits are too restrictive, especially in joints with high stiffness, where it becomes easier to reach these limits. As a result, the change in behavior caused previously trained policies to not function correctly in IsaacLab v2.0.1. Consequently, we have reverted back to the prior behavior and added `velocity_limit_sim` and `effort_limit_sim` attributes to make it clear that setting those parameters means changing solver's configuration. The new behavior is as follows: | Attribute | Implicit Actuator | Explicit Actuator | | ----------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | | `velocity_limit` `effort_limit` `velocity_limit_sim` `effort_limit_sim` | Ignored, not set into simulation Set into simulation (same as `effort_limit_sim`) Set into simulation Set into simulation (same as `effort_limit`) | Used by the model (e.g., DC Motor), not set into simulation Used by the models, not set into simulation Set into simulation Set into simulation | Users are advised to use the `xxx_sim` flag if they want to directly modify the solver limits. Removal of `disable_contact_processing` flag in `SimulationCfg` #### Removal of `disable_contact_processing` flag in `SimulationCfg` We have now removed the `disable_contact_processing` flag from the `isaaclab.sim.SimulationCfg` to not have the user worry about these intricacies of the simulator. The flag is always True by default unless a contact sensor is created (which will internally set this flag to False). Previously, the flag `disable_contact_processing` led to confusion about its behavior. As the name suggests, the flag controls the contact reporting from the underlying physics engine, PhysX. Disabling this flag (note the double negation) means that PhysX collects the contact information from its solver and allows reporting them to the user. Enabling this flag means this operation is not performed and the overhead of it is avoided. Many of our examples (for instance, the locomotion environments) were setting this flag to True which meant the contacts should **not** get reported. However, this issue was not noticed earlier since GPU simulation bypasses this flag, and only CPU simulation gets affected. Running the same examples on CPU device led to different behaviors because of this reason. Existing users, who currently set this flag themselves, should receive a deprecated warning mentioning the removal of this flag and the switch to the new default behavior. #### Switch to older rendering settings to improve render quality With the IsaacLab 2.0.0 release, we switched to new render settings aimed at improving tiled-rendering performance, but at the cost of reduced rendering quality. This change particularly affected dome lighting in the scene, which is the default in many of our examples. As reported by several users, this change negatively impacted render quality, even in cases where it wasn’t necessary (such as when recording videos of the simulation). In response to this feedback, we have reverted to the previous render settings by default to restore the quality users expected. For users looking to trade render quality for speed, we will provide guidelines in the future. ## v2.0.1 ### Overview This release contains a small set of fixes and improvements. The main change was to maintain combability with the updated library name for RSL RL, which breaks the previous installation methods for Isaac Lab. This release provides the necessary fixes and updates in Isaac Lab to accommodate for the name change and maintain combability with installation for RSL RL. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v2.0.0...v2.0.1](https://github.com/isaac-sim/IsaacLab/compare/v2.0.0...v2.0.1) ### Improvements * Switches to RSL-RL install from PyPI by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1811](https://github.com/isaac-sim/IsaacLab/pull/1811) * Updates the script path in the document by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1766](https://github.com/isaac-sim/IsaacLab/pull/1766) * Disables extension auto-reload when saving files by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1788](https://github.com/isaac-sim/IsaacLab/pull/1788) * Updates documentation for v2.0.1 installation by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1818](https://github.com/isaac-sim/IsaacLab/pull/1818) ### Bug Fixes * Fixes timestamp of com and link buffers when writing articulation pose to sim by @Jackkert in [https://github.com/isaac-sim/IsaacLab/pull/1765](https://github.com/isaac-sim/IsaacLab/pull/1765) * Fixes incorrect local documentation preview path in xdg-open command by @louislelay in [https://github.com/isaac-sim/IsaacLab/pull/1776](https://github.com/isaac-sim/IsaacLab/pull/1776) * Fixes no matching distribution found for rsl-rl (unavailable) by @samibouziri in [https://github.com/isaac-sim/IsaacLab/pull/1808](https://github.com/isaac-sim/IsaacLab/pull/1808) * Fixes reset of sensor drift inside the RayCaster sensor by @zoctipus in [https://github.com/isaac-sim/IsaacLab/pull/1821](https://github.com/isaac-sim/IsaacLab/pull/1821) ### New Contributors * @Jackkert made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1765](https://github.com/isaac-sim/IsaacLab/pull/1765) ## v2.0.0 ### Overview Isaac Lab 2.0 brings some exciting new features, including a new addition to the Imitation Learning workflow with the **Isaac Lab Mimic** extension. Isaac Lab Mimic provides the ability to automatically generate additional trajectories based on just a few human collected demonstrations, allowing for larger training datasets with less human effort. This work is based on the [MimicGen](https://mimicgen.github.io/) work for Scalable Robot Learning using Human Demonstrations. Additionally, we introduced a new set of AMP tasks based on [Adversarial Motion Priors](https://xbpeng.github.io/projects/AMP/index.html), training humanoid robots to walk, run, and dance. Along with Isaac Lab 2.0, Isaac Sim 4.5 brings several new and breaking changes, including a full refactor of the Isaac Sim extensions, an improved URDF importer, an update to the PyTorch dependency to version 2.5.1, and many fixes for tiled rendering that now supports multiple tiled cameras at different resolutions. To follow the refactoring in Isaac Sim, we made similar refactoring and restructuring changes to Isaac Lab. These breaking changes will no longer be compatible with previous Isaac Sim versions. > **Warning** > > Please make sure to update to Isaac Sim 4.5 when using the Isaac Lab 2.0 release. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.4.1...v2.0.0](https://github.com/isaac-sim/IsaacLab/compare/v1.4.1...v2.0.0) ### Highlights from the Isaac Sim 4.5 release * Support for multiple `TiledCamera` instances and varying resolutions * Improved rendering performance by up to 1.2x * Faster startup time through optimizations in the Cloner class that improves startup time by 30% * Enhanced OmniPVD for debugging physics simulation, enabling capturing reinforcement learning simulation * Physics simulation performance optimizations improving throughput of up to 70% * Physics support for dedicated cylinder and cone geometry designed for robot wheels that is fully GPU accelerated * A new physics GPU filtering mechanism allowing co-location of reinforcement learning environments at the origin with minimal performance loss for scenes with limited collider counts * Improvements in simulation stability for mimic joints at high joint gains ### New Features * Adds humanoid AMP tasks for direct workflow by @Toni-SM * Adds Isaac Lab Mimic based on MimicGen data generation for Imitation Learning by @peterd-NV @nvcyc @ashwinvkNV @karsten-nvidia * Adds consolidated demo script for showcasing recording and mimic dataset generation in real-time in one simulation script by @nvcyc * Adds Franka stacking environment for GR00T mimic by @peterd-NV @nvcyc * Adds option to filter collisions and real-time playback by @kellyguo11 ### Improvements * Adds a tutorial for policy inference in a prebuilt USD scene by @oahmednv * Adds unit tests for multi-tiled cameras by @matthewtrepte * Updates render setting defaults for better quality by @kellyguo11 * Adds a flag to wait for texture loading completion when reset by @oahmednv * Adds pre-trained checkpoints and tools for generating and uploading checkpoints by @nv-cupright * Adds new denoiser optimization flags for rendering by @kellyguo11 * Updates torch to 2.5.1 by @kellyguo11 ### Bug Fixes * Fixes external force buffers to set to zero when no forces/torques are applied by @matthewtrepte * Fixes RSL-RL package name in `setup.py` according to PyPI installation by @samibouziri ### Breaking Changes * Updates the URDF and MJCF importers for Isaac Sim 4.5 by @Dhoeller19 * Renames Isaac Lab extensions and folders by @kellyguo11 * Restructures extension folders and removes old imitation learning scripts by @kellyguo11 * Renames default conda and venv Python environment from `isaaclab` to `env_isaaclab` by @Toni-SM > **Warning** > > We have identified a breaking feature for semantic segmentation and instance segmentation when using > `TiledCamera` with instanceable assets. Since the Isaac Sim 4.5 / Isaac Lab 2.0 release, semantic and instance > segmentation outputs only render the first tile correctly and produces blank outputs for the remaining tiles. > We will be introducing a workaround for this fix to remove scene instancing if semantic segmentation or instance > segmentation is required for `TiledCamera` until we receive a proper fix from Omniverse as part of the next Isaac Sim release. ### Migration Guide #### Renaming of Isaac Sim Extensions Previously, Isaac Sim extensions have been following the convention of `omni.isaac.*`, such as `omni.isaac.core`. In Isaac Sim 4.5, Isaac Sim extensions have been renamed to use the prefix `isaacsim`, replacing `omni.isaac`. In addition, many extensions have been renamed and split into multiple extensions to prepare for a more modular framework that can be customized by users through the use of app templates. Notably, the following commonly used Isaac Sim extensions in Isaac Lab are renamed as follow: * `omni.isaac.cloner` --> `isaacsim.core.cloner` * `omni.isaac.core.prims` --> `isaacsim.core.prims` * `omni.isaac.core.simulation_context` --> `isaacsim.core.api.simulation_context` * `omni.isaac.core.utils` --> `isaacsim.core.utils` * `omni.isaac.core.world` --> `isaacsim.core.api.world` * `omni.isaac.kit.SimulationApp` --> `isaacsim.SimulationApp` * `omni.isaac.ui` --> `isaacsim.gui.components` #### Renaming of the URDF and MJCF Importers Starting from Isaac Sim 4.5, the URDF and MJCF importers have been renamed to be more consistent with the other extensions in Isaac Sim. The importers are available on isaac-sim GitHub as open source projects. Due to the extension name change, the Python module names have also been changed: * URDF Importer: `isaacsim.asset.importer.urdf` (previously `omni.importer.urdf`) * MJCF Importer: `isaacsim.asset.importer.mjcf` (previously `omni.importer.mjcf`) From the Isaac Sim UI, both URDF and MJCF importers can now be accessed directly from the File > Import menu when selecting a corresponding .urdf or .xml file in the file browser. #### Changes in URDF Importer Isaac Sim 4.5 brings some updates to the URDF Importer, with a fresh UI to allow for better configurations when importing robots from URDF. As a result, the Isaac Lab URDF Converter has also been updated to reflect these changes. The `isaaclab.sim.converters.UrdfConverterCfg` includes some new settings, such as `~isaaclab.sim.converters.JointDriveCfg.PDGainsCfg` and `~isaaclab.sim.converters.JointDriveCfg.NaturalFrequencyGainsCfg` classes for configuring the gains of the drives. One breaking change to note is that the `isaaclab.sim.converters.UrdfConverterCfg.JointDriveCfg.gains` attribute must be of class type `~isaaclab.sim.converters.JointDriveCfg.PDGainsCfg` or `~isaaclab.sim.converters.JointDriveCfg.NaturalFrequencyGainsCfg`. The stiffness of the `~isaaclab.sim.converters.JointDriveCfg.PDGainsCfg` must be specified, as such: ```python joint_drive=sim_utils.UrdfConverterCfg.JointDriveCfg( gains=sim_utils.UrdfConverterCfg.JointDriveCfg.PDGainsCfg(stiffness=None, damping=None) ) ``` The `isaaclab.sim.converters.JointDriveCfg.NaturalFrequencyGainsCfg.natural_frequency` attribute must be specified for `~isaaclab.sim.converters.JointDriveCfg.NaturalFrequencyGainsCfg`. #### Renaming of Isaac Lab Extensions and Folders Corresponding to Isaac Sim 4.5 changes, we have also made some updates to the Isaac Lab directories and extensions. All extensions that were previously under `source/extensions` are now under the `source/` directory directly. The `source/apps` and `source/standalone` folders have been moved to the root directory and are now called `apps/` and `scripts/`. Isaac Lab extensions have been renamed to: * `omni.isaac.lab` --> `isaaclab` * `omni.isaac.lab_assets` --> `isaaclab_assets` * `omni.isaac.lab_tasks` --> `isaaclab_tasks` In addition, we have split up the previous `source/standalone/workflows` directory into `scripts/imitation_learning` and `scripts/reinforcement_learning` directories. The RSL RL, Stable-Baselines, RL_Games, SKRL, and Ray directories are under `scripts/reinforcement_learning`, while Robomimic and the new Isaac Lab Mimic directories are under `scripts/imitation_learning`. To assist with the renaming of Isaac Lab extensions in your project, we have provided a [simple script](https://gist.github.com/kellyguo11/3e8f73f739b1c013b1069ad372277a85) that will traverse through the `source` and `docs` directories in your local Isaac Lab project and replace any instance of the renamed directories and imports. **Please use the script at your own risk as it will overwrite source files directly.** #### Restructuring of Isaac Lab Extensions With the introduction of `isaaclab_mimic`, designed for supporting data generation workflows for imitation learning, we have also split out the previous `wrappers` folder under `isaaclab_tasks` to its own module, named `isaaclab_rl`. This new extension will contain reinforcement learning specific wrappers for the various RL libraries supported by Isaac Lab. The new `isaaclab_mimic` extension will also replace the previous imitation learning scripts under the `robomimic` folder. We have removed the old scripts for data collection and dataset preparation in favor of the new mimic workflow. For users who prefer to use the previous scripts, they will be available in previous release branches. Additionally, we have also restructured the `isaaclab_assets` extension to be split into `robots` and `sensors` subdirectories. This allows for clearer separation between the pre-defined configurations provided in the extension. As an example, the following import: ```python from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG ``` should be replaced with: ```python from isaaclab_assets.robots.anymal import ANYMAL_C_CFG ``` ## v1.4.1 ### Overview This release contains a set of improvements and bug fixes. Most importantly, we reverted one of the [changes from the previous release](https://github.com/isaac-sim/IsaacLab/pull/966) to ensure the training throughput performance remains the same. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.4.0...v1.4.1](https://github.com/isaac-sim/IsaacLab/compare/v1.4.0...v1.4.1) This is the **final release compatible with Isaac Sim 4.2**. The next release will target Isaac Sim 4.5, which introduces breaking changes that will make Isaac Lab incompatible with earlier versions of Isaac Sim. ### New Features * Adds documentation and demo script for IMU sensor by @mpgussert in [https://github.com/isaac-sim/IsaacLab/pull/1694](https://github.com/isaac-sim/IsaacLab/pull/1694) ### Improvements * Removes deprecation for root_state_w properties and setters by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1695](https://github.com/isaac-sim/IsaacLab/pull/1695) * Fixes MARL workflows for recording videos during training/inferencing by @Rishi-V in [https://github.com/isaac-sim/IsaacLab/pull/1596](https://github.com/isaac-sim/IsaacLab/pull/1596) * Adds body tracking option to ViewerCfg by @KyleM73 in [https://github.com/isaac-sim/IsaacLab/pull/1620](https://github.com/isaac-sim/IsaacLab/pull/1620) * Fixes the `joint_parameter_lookup` type in `RemotizedPDActuatorCfg` to support list format by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1626](https://github.com/isaac-sim/IsaacLab/pull/1626) * Updates pip installation documentation to clarify options by @steple in [https://github.com/isaac-sim/IsaacLab/pull/1621](https://github.com/isaac-sim/IsaacLab/pull/1621) * Fixes docstrings in Articulation Data that report wrong return dimension by @zoctipus in [https://github.com/isaac-sim/IsaacLab/pull/1652](https://github.com/isaac-sim/IsaacLab/pull/1652) * Fixes documentation error for PD Actuator by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1668](https://github.com/isaac-sim/IsaacLab/pull/1668) * Clarifies ray documentation and fixes minor issues by @garylvov in [https://github.com/isaac-sim/IsaacLab/pull/1717](https://github.com/isaac-sim/IsaacLab/pull/1717) * Updates code snippets in documentation to reference scripts by @mpgussert in [https://github.com/isaac-sim/IsaacLab/pull/1693](https://github.com/isaac-sim/IsaacLab/pull/1693) * Adds dict conversion test for ActuatorBase configs by @mschweig in [https://github.com/isaac-sim/IsaacLab/pull/1608](https://github.com/isaac-sim/IsaacLab/pull/1608) ### Bug Fixes * Fixes JointAction not preserving order when using all joints by @T-K-233 in [https://github.com/isaac-sim/IsaacLab/pull/1587](https://github.com/isaac-sim/IsaacLab/pull/1587) * Fixes event term for pushing root by setting velocity by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1584](https://github.com/isaac-sim/IsaacLab/pull/1584) * Fixes error in Articulation where `default_joint_stiffness` and `default_joint_damping` are not correctly set for implicit actuator by @zoctipus in [https://github.com/isaac-sim/IsaacLab/pull/1580](https://github.com/isaac-sim/IsaacLab/pull/1580) * Fixes action reset of `pre_trained_policy_action` in navigation environment by @nicolaloi in [https://github.com/isaac-sim/IsaacLab/pull/1623](https://github.com/isaac-sim/IsaacLab/pull/1623) * Fixes rigid object's root com velocities timestamp check by @ori-gadot in [https://github.com/isaac-sim/IsaacLab/pull/1674](https://github.com/isaac-sim/IsaacLab/pull/1674) * Adds interval resampling on event manager's reset call by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1750](https://github.com/isaac-sim/IsaacLab/pull/1750) * Corrects calculation of target height adjustment based on sensor data by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1710](https://github.com/isaac-sim/IsaacLab/pull/1710) * Fixes infinite loop in `repeated_objects_terrain` method by @nicolaloi in [https://github.com/isaac-sim/IsaacLab/pull/1612](https://github.com/isaac-sim/IsaacLab/pull/1612) * Fixes issue where the indices were not created correctly for articulation setters by @AntoineRichard in [https://github.com/isaac-sim/IsaacLab/pull/1660](https://github.com/isaac-sim/IsaacLab/pull/1660) #### New Contributors * @T-K-233 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1587](https://github.com/isaac-sim/IsaacLab/pull/1587) * @steple made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1616](https://github.com/isaac-sim/IsaacLab/pull/1616) * @Rishi-V made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1596](https://github.com/isaac-sim/IsaacLab/pull/1596) * @nicolaloi made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1623](https://github.com/isaac-sim/IsaacLab/pull/1623) * @mschweig made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1608](https://github.com/isaac-sim/IsaacLab/pull/1608) * @AntoineRichard made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1660](https://github.com/isaac-sim/IsaacLab/pull/1660) * @ori-gadot made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1674](https://github.com/isaac-sim/IsaacLab/pull/1674) * @garylvov made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1717](https://github.com/isaac-sim/IsaacLab/pull/1717) ## v1.4.0 ### Overview Due to a great amount of amazing updates, we are putting out one more Isaac Lab release based off of Isaac Sim 4.2. This release contains many great new additions and bug fixes, including several new environments, distributed training and hyperparameter support with Ray, new live plot feature for Manager-based environments, and more. We will now spend more focus on the next Isaac Lab release geared towards the new Isaac Sim 4.5 release coming soon. The upcoming release will contain breaking changes in both Isaac Lab and Isaac Sim and breaks backwards compatibility, but will come with many great fixes and improvements. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.3.0...v1.4.0](https://github.com/isaac-sim/IsaacLab/compare/v1.3.0...v1.4.0) ### New Features * Adds Factory contact-rich manipulation tasks to IsaacLab by @noseworm in [https://github.com/isaac-sim/IsaacLab/pull/1520](https://github.com/isaac-sim/IsaacLab/pull/1520) * Adds a Franka stacking ManagerBasedRLEnv by @peterd-NV in [https://github.com/isaac-sim/IsaacLab/pull/1494](https://github.com/isaac-sim/IsaacLab/pull/1494) * Adds recorder manager in manager-based environments by @nvcyc in [https://github.com/isaac-sim/IsaacLab/pull/1336](https://github.com/isaac-sim/IsaacLab/pull/1336) * Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud by @glvov-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1301](https://github.com/isaac-sim/IsaacLab/pull/1301) * Adds `OperationSpaceController` to docs and tests and implement corresponding action/action_cfg classes by @ozhanozen in [https://github.com/isaac-sim/IsaacLab/pull/913](https://github.com/isaac-sim/IsaacLab/pull/913) * Adds null-space control option within `OperationSpaceController` by @ozhanozen in [https://github.com/isaac-sim/IsaacLab/pull/1557](https://github.com/isaac-sim/IsaacLab/pull/1557) * Adds observation term history support to Observation Manager by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1439](https://github.com/isaac-sim/IsaacLab/pull/1439) * Adds live plots to managers by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/893](https://github.com/isaac-sim/IsaacLab/pull/893) ### Improvements * Adds documentation and example scripts for sensors by @mpgussert in [https://github.com/isaac-sim/IsaacLab/pull/1443](https://github.com/isaac-sim/IsaacLab/pull/1443) * Removes duplicated `TerminationsCfg` code in G1 and H1 RoughEnvCfg by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1484](https://github.com/isaac-sim/IsaacLab/pull/1484) * Adds option to change the clipping behavior for all Cameras and unifies the default by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/891](https://github.com/isaac-sim/IsaacLab/pull/891) * Adds check that no articulation root API is applied on rigid bodies by @lgulich in [https://github.com/isaac-sim/IsaacLab/pull/1358](https://github.com/isaac-sim/IsaacLab/pull/1358) * Adds RayCaster rough terrain base height to reward by @Andy-xiong6 in [https://github.com/isaac-sim/IsaacLab/pull/1525](https://github.com/isaac-sim/IsaacLab/pull/1525) * Adds position threshold check for state transitions by @DorsaRoh in [https://github.com/isaac-sim/IsaacLab/pull/1544](https://github.com/isaac-sim/IsaacLab/pull/1544) * Adds clip range for JointAction by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1476](https://github.com/isaac-sim/IsaacLab/pull/1476) ### Bug Fixes * Fixes noise_model initialized in direct_marl_env by @NoneJou072 in [https://github.com/isaac-sim/IsaacLab/pull/1480](https://github.com/isaac-sim/IsaacLab/pull/1480) * Fixes entry_point and kwargs in isaaclab_tasks README by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1485](https://github.com/isaac-sim/IsaacLab/pull/1485) * Fixes syntax for checking if pre-commit is installed in isaaclab.sh by @louislelay in [https://github.com/isaac-sim/IsaacLab/pull/1422](https://github.com/isaac-sim/IsaacLab/pull/1422) * Corrects fisheye camera projection types in spawner configuration by @command-z-z in [https://github.com/isaac-sim/IsaacLab/pull/1361](https://github.com/isaac-sim/IsaacLab/pull/1361) * Fixes actuator velocity limits propagation down the articulation root_physx_view by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1509](https://github.com/isaac-sim/IsaacLab/pull/1509) * Computes Jacobian in the root frame inside the `DifferentialInverseKinematicsAction` class by @zoctipus in [https://github.com/isaac-sim/IsaacLab/pull/967](https://github.com/isaac-sim/IsaacLab/pull/967) * Adds transform for mesh_prim of ray caster sensor by @clearsky-mio in [https://github.com/isaac-sim/IsaacLab/pull/1448](https://github.com/isaac-sim/IsaacLab/pull/1448) * Fixes configclass dict conversion for torch tensors by @lgulich in [https://github.com/isaac-sim/IsaacLab/pull/1530](https://github.com/isaac-sim/IsaacLab/pull/1530) * Fixes error in apply_actions method in `NonHolonomicAction` action term. by @KyleM73 in [https://github.com/isaac-sim/IsaacLab/pull/1513](https://github.com/isaac-sim/IsaacLab/pull/1513) * Fixes outdated sensor data after reset by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1276](https://github.com/isaac-sim/IsaacLab/pull/1276) * Fixes order of logging metrics and sampling commands in command manager by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1352](https://github.com/isaac-sim/IsaacLab/pull/1352) ### Breaking Changes * Refactors pose and velocities to link frame and COM frame APIs by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/966](https://github.com/isaac-sim/IsaacLab/pull/966) ### New Contributors * @nvcyc made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1336](https://github.com/isaac-sim/IsaacLab/pull/1336) * @peterd-NV made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1494](https://github.com/isaac-sim/IsaacLab/pull/1494) * @NoneJou072 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1480](https://github.com/isaac-sim/IsaacLab/pull/1480) * @clearsky-mio made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1448](https://github.com/isaac-sim/IsaacLab/pull/1448) * @Andy-xiong6 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1525](https://github.com/isaac-sim/IsaacLab/pull/1525) * @noseworm made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1520](https://github.com/isaac-sim/IsaacLab/pull/1520) ## v1.3.0 ### Overview This release will be a final release based on Isaac Sim 4.2 before the transition to Isaac Sim 4.5, which will likely contain breaking changes and no longer backwards compatible with Isaac Sim 4.2 and earlier. In this release, we introduce many features, improvements, and bug fixes, including IMU sensors, support for various types of gymnasium spaces, manager-based perception environments, and more. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.2.0...v1.3.0](https://github.com/isaac-sim/IsaacLab/compare/v1.2.0...v1.3.0) ### New Features * Adds `IMU` sensor by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/619](https://github.com/isaac-sim/IsaacLab/pull/619) * Add Camera Benchmark Tool and Allow Correct Unprojection of distance_to_camera depth image by @glvov-bdai in [https://github.com/isaac-sim/IsaacLab/pull/976](https://github.com/isaac-sim/IsaacLab/pull/976) * Creates Manager Based Cartpole Vision Example Environments by @glvov-bdai in [https://github.com/isaac-sim/IsaacLab/pull/995](https://github.com/isaac-sim/IsaacLab/pull/995) * Adds image extracted features observation term and cartpole examples for it by @glvov-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1191](https://github.com/isaac-sim/IsaacLab/pull/1191) * Supports other gymnasium spaces in Direct workflow by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/1117](https://github.com/isaac-sim/IsaacLab/pull/1117) * Adds configuration classes for spawning different assets at prim paths by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1164](https://github.com/isaac-sim/IsaacLab/pull/1164) * Adds a rigid body collection class by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/1288](https://github.com/isaac-sim/IsaacLab/pull/1288) * Adds option to scale/translate/rotate meshes in the `mesh_converter` by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/1228](https://github.com/isaac-sim/IsaacLab/pull/1228) * Adds event term to randomize gains of explicit actuators by @MoreTore in [https://github.com/isaac-sim/IsaacLab/pull/1005](https://github.com/isaac-sim/IsaacLab/pull/1005) * Adds Isaac Lab Reference Architecture documentation by @OOmotuyi in [https://github.com/isaac-sim/IsaacLab/pull/1371](https://github.com/isaac-sim/IsaacLab/pull/1371) ### Improvements * Expands functionality of FrameTransformer to allow multi-body transforms by @jsmith-bdai in [https://github.com/isaac-sim/IsaacLab/pull/858](https://github.com/isaac-sim/IsaacLab/pull/858) * Inverts SE-2 keyboard device actions (Z, X) for yaw command by @riccardorancan in [https://github.com/isaac-sim/IsaacLab/pull/1030](https://github.com/isaac-sim/IsaacLab/pull/1030) * Disables backward pass compilation of warp kernels by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1222](https://github.com/isaac-sim/IsaacLab/pull/1222) * Replaces TensorDict with native dictionary by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/1348](https://github.com/isaac-sim/IsaacLab/pull/1348) * Improves omni.isaac.lab_tasks loading time by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/1353](https://github.com/isaac-sim/IsaacLab/pull/1353) * Caches PhysX view's joint paths when processing fixed articulation tendons by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/1347](https://github.com/isaac-sim/IsaacLab/pull/1347) * Replaces hardcoded module paths with `__name__` dunder by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1357](https://github.com/isaac-sim/IsaacLab/pull/1357) * Expands observation term scaling to support list of floats by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/1269](https://github.com/isaac-sim/IsaacLab/pull/1269) * Removes extension startup messages from the Simulation App by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1217](https://github.com/isaac-sim/IsaacLab/pull/1217) * Adds a render config to the simulation and tiledCamera limitations to the docs by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1246](https://github.com/isaac-sim/IsaacLab/pull/1246) * Adds Kit command line argument support by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1293](https://github.com/isaac-sim/IsaacLab/pull/1293) * Modifies workflow scripts to generate random seed when seed=-1 by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1048](https://github.com/isaac-sim/IsaacLab/pull/1048) * Adds benchmark script to measure robot loading by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1195](https://github.com/isaac-sim/IsaacLab/pull/1195) * Switches from `carb` to `omni.log` for logging by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1215](https://github.com/isaac-sim/IsaacLab/pull/1215) * Excludes cache files from vscode explorer by @Divelix in [https://github.com/isaac-sim/IsaacLab/pull/1131](https://github.com/isaac-sim/IsaacLab/pull/1131) * Adds versioning to the docs by @sheikh-nv in [https://github.com/isaac-sim/IsaacLab/pull/1247](https://github.com/isaac-sim/IsaacLab/pull/1247) * Adds better error message for invalid actuator parameters by @lgulich in [https://github.com/isaac-sim/IsaacLab/pull/1235](https://github.com/isaac-sim/IsaacLab/pull/1235) * Updates tested docker and apptainer versions for cluster deployment by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/1230](https://github.com/isaac-sim/IsaacLab/pull/1230) * Removes `ml_archive` as a dependency of `omni.isaac.lab` extension by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1266](https://github.com/isaac-sim/IsaacLab/pull/1266) * Adds a validity check for configclasses by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/1214](https://github.com/isaac-sim/IsaacLab/pull/1214) * Ensures mesh name is compatible with USD convention in mesh converter by @fan-ziqi in [https://github.com/isaac-sim/IsaacLab/pull/1302](https://github.com/isaac-sim/IsaacLab/pull/1302) * Adds sanity check for the term type inside the command manager by @command-z-z in [https://github.com/isaac-sim/IsaacLab/pull/1315](https://github.com/isaac-sim/IsaacLab/pull/1315) * Allows configclass `to_dict` operation to handle a list of configclasses by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1227](https://github.com/isaac-sim/IsaacLab/pull/1227) ### Bug Fixes * Disables replicate physics for deformable teddy lift environment by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1026](https://github.com/isaac-sim/IsaacLab/pull/1026) * Fixes Jacobian joint indices for floating base articulations by @lorenwel in [https://github.com/isaac-sim/IsaacLab/pull/1033](https://github.com/isaac-sim/IsaacLab/pull/1033) * Fixes setting the seed from CLI for RSL-RL by @kaixi287 in [https://github.com/isaac-sim/IsaacLab/pull/1084](https://github.com/isaac-sim/IsaacLab/pull/1084) * Fixes camera MDP term name and reprojection docstrings by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1130](https://github.com/isaac-sim/IsaacLab/pull/1130) * Fixes deprecation notice for using `pxr.Semantics` by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1129](https://github.com/isaac-sim/IsaacLab/pull/1129) * Fixes scaling of default ground plane by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1133](https://github.com/isaac-sim/IsaacLab/pull/1133) * Fixes Isaac Sim executable on pip installation by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/1172](https://github.com/isaac-sim/IsaacLab/pull/1172) * Passes device from CLI args to simulation config in standalone scripts by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/1114](https://github.com/isaac-sim/IsaacLab/pull/1114) * Fixes the event for randomizing rigid body material by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/1140](https://github.com/isaac-sim/IsaacLab/pull/1140) * Fixes the ray_caster_camera tutorial script when saving the data by @mpgussert in [https://github.com/isaac-sim/IsaacLab/pull/1198](https://github.com/isaac-sim/IsaacLab/pull/1198) * Fixes running the docker container when the DISPLAY env variable is not defined by @GiulioRomualdi in [https://github.com/isaac-sim/IsaacLab/pull/1163](https://github.com/isaac-sim/IsaacLab/pull/1163) * Fixes default joint pos when setting joint limits by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/1040](https://github.com/isaac-sim/IsaacLab/pull/1040) * Fixes device propagation for noise and adds noise tests by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/1175](https://github.com/isaac-sim/IsaacLab/pull/1175) * Removes additional sbatch and fixes default profile in cluster deployment by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/1229](https://github.com/isaac-sim/IsaacLab/pull/1229) * Fixes the checkpoint loading error in RSL-RL training script by @bearpaw in [https://github.com/isaac-sim/IsaacLab/pull/1210](https://github.com/isaac-sim/IsaacLab/pull/1210) * Fixes pytorch broadcasting issue in `EMAJointPositionToLimitsAction` by @bearpaw in [https://github.com/isaac-sim/IsaacLab/pull/1207](https://github.com/isaac-sim/IsaacLab/pull/1207) * Fixes body IDs selection when computing `feet_slide` reward for locomotion-velocity task by @dtc103 in [https://github.com/isaac-sim/IsaacLab/pull/1277](https://github.com/isaac-sim/IsaacLab/pull/1277) * Fixes broken URLs in markdown files by @DorsaRoh in [https://github.com/isaac-sim/IsaacLab/pull/1272](https://github.com/isaac-sim/IsaacLab/pull/1272) * Fixes `net_arch` in `sb3_ppo_cfg.yaml` for Isaac-Lift-Cube-Franka-v0 task by @LinghengMeng in [https://github.com/isaac-sim/IsaacLab/pull/1249](https://github.com/isaac-sim/IsaacLab/pull/1249) ### New Contributors * @riccardorancan made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1030](https://github.com/isaac-sim/IsaacLab/pull/1030) * @glvov-bdai made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/976](https://github.com/isaac-sim/IsaacLab/pull/976) * @kaixi287 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1084](https://github.com/isaac-sim/IsaacLab/pull/1084) * @lgulich made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1119](https://github.com/isaac-sim/IsaacLab/pull/1119) * @nv-apoddubny made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1118](https://github.com/isaac-sim/IsaacLab/pull/1118) * @GiulioRomualdi made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1163](https://github.com/isaac-sim/IsaacLab/pull/1163) * @Divelix made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1131](https://github.com/isaac-sim/IsaacLab/pull/1131) * @sheikh-nv made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1247](https://github.com/isaac-sim/IsaacLab/pull/1247) * @dtc103 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1277](https://github.com/isaac-sim/IsaacLab/pull/1277) * @DorsaRoh made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1272](https://github.com/isaac-sim/IsaacLab/pull/1272) * @louislelay made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1271](https://github.com/isaac-sim/IsaacLab/pull/1271) * @LinghengMeng made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1249](https://github.com/isaac-sim/IsaacLab/pull/1249) * @OOmotuyi made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1337](https://github.com/isaac-sim/IsaacLab/pull/1337) * @command-z-z made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1315](https://github.com/isaac-sim/IsaacLab/pull/1315) * @MoreTore made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/1005](https://github.com/isaac-sim/IsaacLab/pull/1005) ## v1.2.0 ### Overview We leverage the new release of Isaac Sim, 4.2.0, and bring RTX-based tiled rendering, support for multi-agent environments, and introduce many bug fixes and improvements. Additionally, we have published an example for generating rewards using an LLM based on [Eureka](https://github.com/eureka-research/Eureka), available here: [https://github.com/isaac-sim/IsaacLabEureka](https://github.com/isaac-sim/IsaacLabEureka) **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.1.0...v1.2.0](https://github.com/isaac-sim/IsaacLab/compare/v1.1.0...v1.2.0) ### New Features * Adds RTX-based tiled rendering. This improves the overall rendering speed and quality. * Adds the direct workflow perceptive Shadowhand Cube Repose environment `Isaac-Repose-Cube-Shadow-Vision-Direct-v0` by @kellyguo11. * Adds support for multi-agent environments with the Direct workflow, with support for MAPPO and IPPO in SKRL by @Toni-SM * Adds the direct workflow multi-agent environments `Isaac-Cart-Double-Pendulum-Direct-v0` and `Isaac-Shadow-Hand-Over-Direct-v0` by @Toni-SM * Adds throughput benchmarking scripts for the different learning workflows by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/759](https://github.com/isaac-sim/IsaacLab/pull/759) * Adds results for the benchmarks in the documentation [here](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/performance_benchmarks.html) for different types of hardware by @kellyguo11 * Adds the direct workflow Allegro hand environment by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/709](https://github.com/isaac-sim/IsaacLab/pull/709) * Adds video recording to the play scripts in RL workflows by @j3soon in [https://github.com/isaac-sim/IsaacLab/pull/763](https://github.com/isaac-sim/IsaacLab/pull/763) * Adds comparison tables for the supported RL libraries [here](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_frameworks.html) by @kellyguo11 * Add APIs for deformable asset by @masoudmoghani in [https://github.com/isaac-sim/IsaacLab/pull/630](https://github.com/isaac-sim/IsaacLab/pull/630) * Adds support for MJCF converter by @qqqwan in [https://github.com/isaac-sim/IsaacLab/pull/957](https://github.com/isaac-sim/IsaacLab/pull/957) * Adds a function to define camera configs through intrinsic matrix by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/617](https://github.com/isaac-sim/IsaacLab/pull/617) * Adds configurable modifiers to observation manager by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/830](https://github.com/isaac-sim/IsaacLab/pull/830) * Adds the Hydra configuration system for RL training by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/700](https://github.com/isaac-sim/IsaacLab/pull/700) ### Improvements * Uses PhysX accelerations for rigid body acceleration data by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/760](https://github.com/isaac-sim/IsaacLab/pull/760) * Adds documentation on the frames for asset data by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/742](https://github.com/isaac-sim/IsaacLab/pull/742) * Renames Unitree configs in locomotion tasks to match properly by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/714](https://github.com/isaac-sim/IsaacLab/pull/714) * Adds option to set the height of the border in the `TerrainGenerator` by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/744](https://github.com/isaac-sim/IsaacLab/pull/744) * Adds a cli arg to `run_all_tests.py` for testing a selected extension by @jsmith-bdai in [https://github.com/isaac-sim/IsaacLab/pull/753](https://github.com/isaac-sim/IsaacLab/pull/753) * Decouples rigid object and articulation asset classes by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/644](https://github.com/isaac-sim/IsaacLab/pull/644) * Adds performance optimizations for domain randomization by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/494](https://github.com/isaac-sim/IsaacLab/pull/494) * Allows having hybrid dimensional terms inside an observation group by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/772](https://github.com/isaac-sim/IsaacLab/pull/772) * Adds a flag to preserve joint order inside `JointActionCfg` action term by @xav-nal in [https://github.com/isaac-sim/IsaacLab/pull/787](https://github.com/isaac-sim/IsaacLab/pull/787) * Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon in [https://github.com/isaac-sim/IsaacLab/pull/797](https://github.com/isaac-sim/IsaacLab/pull/797) * Adds windows configuration to VS code tasks by @johnBuffer in [https://github.com/isaac-sim/IsaacLab/pull/963](https://github.com/isaac-sim/IsaacLab/pull/963) * Adapts A and D button bindings in the keyboard device by @zoctipus in [https://github.com/isaac-sim/IsaacLab/pull/910](https://github.com/isaac-sim/IsaacLab/pull/910) * Uses `torch.einsum` for quat_rotate and quat_rotate_inverse operations by @dxyy1 in [https://github.com/isaac-sim/IsaacLab/pull/900](https://github.com/isaac-sim/IsaacLab/pull/900) * Expands on articulation test for multiple instances and devices by @jsmith-bdai in [https://github.com/isaac-sim/IsaacLab/pull/872](https://github.com/isaac-sim/IsaacLab/pull/872) * Adds setting of environment seed at initialization by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/940](https://github.com/isaac-sim/IsaacLab/pull/940) * Disables default viewport when headless but cameras are enabled by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/851](https://github.com/isaac-sim/IsaacLab/pull/851) * Simplifies the return type for `parse_env_cfg` method by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/965](https://github.com/isaac-sim/IsaacLab/pull/965) * Simplifies the if-elses inside the event manager apply method by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/948](https://github.com/isaac-sim/IsaacLab/pull/948) ### Bug Fixes * Fixes rendering frame delays. Rendered images now faithfully represent the latest state of the physics scene. We added the flag `rerender_on_reset` in the environment configs to toggle an additional render step when a reset happens. When activated, the images/observation always represent the latest state of the environment, but this also reduces performance. * Fixes `wrap_to_pi` function in math utilities by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/771](https://github.com/isaac-sim/IsaacLab/pull/771) * Fixes setting of pose when spawning a mesh by @masoudmoghani in [https://github.com/isaac-sim/IsaacLab/pull/692](https://github.com/isaac-sim/IsaacLab/pull/692) * Fixes caching of the terrain using the terrain generator by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/757](https://github.com/isaac-sim/IsaacLab/pull/757) * Fixes running train scripts when rsl_rl is not installed by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/784](https://github.com/isaac-sim/IsaacLab/pull/784), [https://github.com/isaac-sim/IsaacLab/pull/789](https://github.com/isaac-sim/IsaacLab/pull/789) * Adds flag to recompute inertia when randomizing the mass of a rigid body by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/989](https://github.com/isaac-sim/IsaacLab/pull/989) * Fixes support for `classmethod` when defining a configclass by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/901](https://github.com/isaac-sim/IsaacLab/pull/901) * Fixes `Sb3VecEnvWrapper` to clear buffer on reset by @EricJin2002 in [https://github.com/isaac-sim/IsaacLab/pull/974](https://github.com/isaac-sim/IsaacLab/pull/974) * Fixes venv and conda pip installation on windows by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/970](https://github.com/isaac-sim/IsaacLab/pull/970) * Sets native livestream extensions to Isaac Sim 4.1-4.0 defaults by @jtigue-bdai in [https://github.com/isaac-sim/IsaacLab/pull/954](https://github.com/isaac-sim/IsaacLab/pull/954) * Defaults the gym video recorder fps to match episode decimation by @ozhanozen in [https://github.com/isaac-sim/IsaacLab/pull/894](https://github.com/isaac-sim/IsaacLab/pull/894) * Fixes the event manager's apply method by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/936](https://github.com/isaac-sim/IsaacLab/pull/936) * Updates camera docs with world units and introduces new test for intrinsics by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/886](https://github.com/isaac-sim/IsaacLab/pull/886) * Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon in [https://github.com/isaac-sim/IsaacLab/pull/797](https://github.com/isaac-sim/IsaacLab/pull/797) ### Breaking Changes * Simplifies device setting in SimulationCfg and AppLauncher by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/696](https://github.com/isaac-sim/IsaacLab/pull/696) * Fixes conflict in teleop-device command line argument in scripts by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/791](https://github.com/isaac-sim/IsaacLab/pull/791) * Converts container.sh into Python utilities by @hhansen-bdai in [https://github.com/isaac-sim/IsaacLab/commit/f565c33d7716db1be813b30ddbcf9321712fc497](https://github.com/isaac-sim/IsaacLab/commit/f565c33d7716db1be813b30ddbcf9321712fc497) * Drops support for `TiledCamera` for Isaac Sim 4.1 ### Migration Guide #### Setting the simulation device into the simulation context Previously, changing the simulation device to CPU required users to set other simulation parameters (such as disabling GPU physics and GPU pipelines). This made setting up the device appear complex. We now simplify the checks for device directly inside the simulation context, so users only need to specify the device through the configuration object. Before: ```python sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False)) ``` Now: ```python sim_utils.SimulationCfg(device="cpu", dt=0.01, physx=sim_utils.PhysxCfg()) ``` #### Setting the simulation device from CLI Previously, users could specify the device through the command line argument `--device_id`. However, this made it ambiguous when users wanted to set the device to CPU. Thus, instead of the device ID, users need to specify the device explicitly through the argument `--device`. The valid options for the device name are: * "cpu": runs simulation on CPU * "cuda": runs simulation on GPU with device ID at default index * "cuda:N": runs simulation on GPU with device ID at `N`. For instance, "cuda:0" will use device at index "0". Due to the above change, the command line interaction with some of the scripts has changed. Before: ```bash ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu ``` Now: ```bash ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu ``` #### Renaming of teleoperation device CLI in standalone scripts Since `--device` is now an argument provided by the AppLauncher, it conflicted with the command-line argument used for specifying the teleoperation-device in some of the standalone scripts. Thus, to fix this conflict, the teleoperation-device now needs to be specified through `--teleop_device` argument. Before: ```bash ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard ``` Now: ```bash ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --teleop_device keyboard ``` #### Using Python-version of container utility script The prior [container.sh](https://github.com/isaac-sim/IsaacLab/blob/v1.1.0/docker/container.sh) became quite complex as it had many different use cases in one script. For instance, building a docker image for "base" or "ros2", as well as cluster deployment. As more users wanted to have the flexibility to overlay their own docker settings, maintaining this bash script became cumbersome. Hence, we migrated its features into a Python script in this release. Additionally, we split the cluster-related utilities into their own script inside the `docker/cluster` directory. We still maintain backward compatibility for `container.sh`. Internally, it calls the Python script `container.py`. We request users to use the Python script directly. Before: ```bash ./docker/container.sh start ``` Now: ```bash ./docker/container.py start ``` #### Using separate directories for logging videos in RL workflows Previously, users could record videos during the RL training by specifying the `--video` flag to the `train.py` script. The videos would be saved inside the `videos` directory in the corresponding log directory of the run. Since many users requested to also be able to record videos while inferencing the policy, recording videos have also been added to the `play.py` script. Since changing the prefix of the video file names is not possible, the videos from the train and play scripts are saved inside the `videos/train` and `videos/play` directories, respectively. #### Drops support for the tiled camera with Isaac Sim 4.1 Various fixes have been made to the tiled camera rendering pipeline in Isaac Sim 4.2. This made supporting the tiled camera with Isaac Sim 4.1 difficult. Hence, for the best experience, we advice switching to Isaac Sim 4.2 with this release of Isaac Lab. ### New Contributors * @xav-nal made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/787](https://github.com/isaac-sim/IsaacLab/pull/787) * @sizsJEon made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/797](https://github.com/isaac-sim/IsaacLab/pull/797) * @jtigue-bdai made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/830](https://github.com/isaac-sim/IsaacLab/pull/830) * @StrainFlow made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/835](https://github.com/isaac-sim/IsaacLab/pull/835) * @mpgussert made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/827](https://github.com/isaac-sim/IsaacLab/pull/827) * @Symars made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/898](https://github.com/isaac-sim/IsaacLab/pull/898) * @martinmatak made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/876](https://github.com/isaac-sim/IsaacLab/pull/876) * @bearpaw made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/945](https://github.com/isaac-sim/IsaacLab/pull/945) * @dxyy1 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/900](https://github.com/isaac-sim/IsaacLab/pull/900) * @qqqwan made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/957](https://github.com/isaac-sim/IsaacLab/pull/957) * @johnBuffer made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/963](https://github.com/isaac-sim/IsaacLab/pull/963) * @EricJin2002 made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/974](https://github.com/isaac-sim/IsaacLab/pull/974) * @iamnambiar made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/986](https://github.com/isaac-sim/IsaacLab/pull/986) ## v1.1.0 ### Overview With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available [here](https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#). Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v1.0.0...v1.1.0](https://github.com/isaac-sim/IsaacLab/compare/v1.0.0...v1.1.0) ### New Features * Adds distributed multi-GPU learning support for skrl by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/574](https://github.com/isaac-sim/IsaacLab/pull/574) * Updates skrl integration to support training/evaluation using JAX by @Toni-SM in [https://github.com/isaac-sim/IsaacLab/pull/592](https://github.com/isaac-sim/IsaacLab/pull/592) * Adds lidar pattern for raycaster sensor by @pascal-roth in [https://github.com/isaac-sim/IsaacLab/pull/616](https://github.com/isaac-sim/IsaacLab/pull/616) * Adds support for PBS job scheduler-based clusters by @shafeef901 in [https://github.com/isaac-sim/IsaacLab/pull/605](https://github.com/isaac-sim/IsaacLab/pull/605) * Adds APIs for spawning deformable meshes by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/613](https://github.com/isaac-sim/IsaacLab/pull/613) ### Improvements * Changes documentation color to the green theme by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/585](https://github.com/isaac-sim/IsaacLab/pull/585) * Fixes sphinx tabs to make them work in dark theme by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/584](https://github.com/isaac-sim/IsaacLab/pull/584) * Fixes VSCode settings to work with pip installation of Isaac Sim by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/628](https://github.com/isaac-sim/IsaacLab/pull/628) * Fixes `isaaclab` scripts to deal with Isaac Sim pip installation by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/631](https://github.com/isaac-sim/IsaacLab/pull/631) * Optimizes interactive scene for homogeneous cloning by @kellyguo11 in [https://github.com/isaac-sim/IsaacLab/pull/636](https://github.com/isaac-sim/IsaacLab/pull/636) * Improves docker X11 forwarding documentation by @j3soon in [https://github.com/isaac-sim/IsaacLab/pull/685](https://github.com/isaac-sim/IsaacLab/pull/685) ### Bug Fixes * Reads gravity direction from simulation inside `RigidObjectData` by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/582](https://github.com/isaac-sim/IsaacLab/pull/582) * Fixes reference count in asset instances due to circular references by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/580](https://github.com/isaac-sim/IsaacLab/pull/580) * Fixes issue with asset deinitialization due to torch > 2.1 by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/640](https://github.com/isaac-sim/IsaacLab/pull/640) * Fixes the rendering logic regression in environments by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/614](https://github.com/isaac-sim/IsaacLab/pull/614) * Fixes the check for action-space inside Stable-Baselines3 wrapper by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/610](https://github.com/isaac-sim/IsaacLab/pull/610) * Fixes warning message in Articulation config processing by @locoxsoco in [https://github.com/isaac-sim/IsaacLab/pull/699](https://github.com/isaac-sim/IsaacLab/pull/699) * Fixes action term in the reach environment by @masoudmoghani in [https://github.com/isaac-sim/IsaacLab/pull/710](https://github.com/isaac-sim/IsaacLab/pull/710) * Fixes training UR10 reach with RL_GAMES and SKRL by @sudhirpratapyadav in [https://github.com/isaac-sim/IsaacLab/pull/678](https://github.com/isaac-sim/IsaacLab/pull/678) * Adds event manager call to simple manage-based env by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/666](https://github.com/isaac-sim/IsaacLab/pull/666) ### Breaking Changes * Drops official support for Isaac Sim 2023.1.1 * Removes the use of body view inside the asset classes by @Mayankm96 in [https://github.com/isaac-sim/IsaacLab/pull/643](https://github.com/isaac-sim/IsaacLab/pull/643) * Renames `SimulationCfg.substeps` to `SimulationCfg.render_interval` by @Dhoeller19 in [https://github.com/isaac-sim/IsaacLab/pull/515](https://github.com/isaac-sim/IsaacLab/pull/515) ### Migration Guide Renaming of `SimulationCfg.substeps` #### Renaming of `SimulationCfg.substeps` Previously, the users set both `omni.isaac.lab.sim.SimulationCfg.dt` and `omni.isaac.lab.sim.SimulationCfg.substeps`, which marked the physics insulation time-step and sub-steps, respectively. It was unclear whether sub-steps meant the number of integration steps inside the physics time-step `dt` or the number of physics steps inside a rendering step. Since in the code base, the attribute was used as the latter, it has been renamed to `render_interval` for clarity. #### Removal of Deprecated Attributes As notified in previous releases, we removed the classes and attributes marked as deprecated. These are as follows: * The `mdp.add_body_mass` method in the events. Please use the `mdp.randomize_rigid_body_mass` instead. * The classes `managers.RandomizationManager` and `managers.RandomizationTermCfg`. Please use the `managers.EventManager` and `managers.EventTermCfg` classes instead. * The following properties in `omni.isaac.lab.sensors.FrameTransformerData`: * `target_rot_source` --> `target_quat_w` * `target_rot_w` --> `target_quat_source` * `source_rot_w` --> `source_quat_w` * The attribute `body_physx_view` from the `omni.isaac.lab.assets.Articulation` and `omni.isaac.lab.assets.RigidObject` classes. These caused confusion when used with the articulation view since the body names did not follow the same ordering. ## v1.0.0 ### Overview Welcome to the first official release of Isaac Lab! Building upon the foundation of the [Orbit](https://isaac-orbit.github.io/) framework, we have integrated the RL environment designing workflow from [OmniIsaacGymEnvs](https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs). This allows users to choose a suitable [task-design approach](https://isaac-sim.github.io/IsaacLab/source/features/task_workflows.html) for their applications. While we maintain backward compatibility with Isaac Sim 2023.1.1, we highly recommend using Isaac Lab with Isaac Sim 4.0.0 version for the latest features and improvements. **Full Changelog**: [https://github.com/isaac-sim/IsaacLab/compare/v0.3.1...v1.0.0](https://github.com/isaac-sim/IsaacLab/compare/v0.3.1...v1.0.0) ### New Features * Integrated CI/CD pipeline, which is triggered on pull requests and publishes the results publicly * Extended support for Windows OS platforms * Added [tiled rendered](https://isaac-sim.github.io/IsaacLab/source/features/tiled_rendering.html) based Camera sensor implementation. This provides optimized RGB-D rendering throughputs of up to 10k frames per second. * Added support for multi-GPU and multi-node training for the RL-Games library * Integrated APIs for environment designing (direct workflow) without relying on managers * Added implementation of delayed PD actuator model * [Added various new learning environments](https://isaac-sim.github.io/IsaacLab/main/source/features/environments.html): * Cartpole balancing using images * Shadow hand cube reorientation * Boston Dynamics Spot locomotion * Unitree H1 and G1 locomotion * ANYmal-C navigation * Quadcopter target reaching ### Improvements * Reduced start-up time for scripts (inherited from Isaac Sim 4.0 improvements) * Added lazy buffer implementation for rigid object and articulation data. Instead of updating all the quantities at every step call, the lazy buffers are updated only when the user queries them * Added SKRL support to more environments ### Breaking Changes For users coming from Orbit, this release brings certain breaking changes. Please check the migration guide for more information. ### Migration Guide Please find detailed migration guides as follows: * [From Orbit to IsaacLab](https://isaac-sim.github.io/IsaacLab/main/source/migration/migrating_from_orbit.html) * [From OmniIsaacGymEnvs to IsaacLab](https://isaac-sim.github.io/IsaacLab/main/source/migration/migrating_from_omniisaacgymenvs.html) ### New Contributors * @abizovnuralem made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/452](https://github.com/isaac-sim/IsaacLab/pull/452) * @eltociear made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/460](https://github.com/isaac-sim/IsaacLab/pull/460) * @zoctipus made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/486](https://github.com/isaac-sim/IsaacLab/pull/486) * @JunghwanRo made their first contribution in [https://github.com/isaac-sim/IsaacLab/pull/497](https://github.com/isaac-sim/IsaacLab/pull/497)