Release Notes

The release notes are now available in the Isaac Lab GitHub repository. We summarize the release notes here for convenience.

v2.2.0

Updates and Changes

• Python version has been updated to 3.11 from 3.10.
• PyTorch version is updated to torch 2.7.0+cu128, which will include Blackwell support.
• Rendering issues have been resolved on Blackwell GPUs that previously resulted in overly noisy renders.
• Official support for Ubuntu 20.04 has been dropped. We now officially support Ubuntu 22.04 and 24.04 Linux platforms.
• Updated gymnasium to be at least v1.0.0 to allow for specifying module name with task name in the form of module:task.
• New Spatial Tendon APIs are introduced to allow simulation and actuation of assets with spatial tendons.
• 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.
• Isaac Sim 5.0 no longer sets /app/player/useFixedTimeStepping=False by default. We now do this in Isaac Lab.
• We are leveraging the latest Fabric implementations to allow for faster scene creation and interop between the simulator and rendering. This should help improve rendering performance as well as startup time.
• 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

Current Known Issues

• Some environments, such as Isaac-Repose-Cube-Allegro-v0 is taking a significant long time to create the scene. We are looking into this and will try to reduce down the scene creation time to be less than previous releases.

v2.1.1

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

• Asset Interfaces
  • Adds position argument to set external forces and torques at different locations on the rigid body by @AntoineRichard
  • Adds body_incoming_joint_wrench_b to ArticulationData field by @jtigue-bdai
  • Allows selecting articulation root prim explicitly by @lgulich
• Sensor Interfaces
  • Draws connection lines for FrameTransformer visualization by @Mayankm96
  • Uses visualization marker for connecting lines inside FrameTransformer by @bikcrum
• MDP Terms
  • Adds body_pose_w and body_projected_gravity_b observations by @jtigue-bdai
  • Adds joint effort observation by @jtigue-bdai
  • Adds CoM randomization term to manager-based events by @shendredm
  • Adds time-based mdp (observation) functions by @TheIndoorDad
  • Adds curriculum mdp term to modify any environment parameters by @ooctipus
• New Example Tasks
  • Adds assembly tasks from the Automate project by @yijieg
  • Adds digit locomotion examples by @lgulich

Improvements

Core API

• Actuator Interfaces
  • Fixes implicit actuator limits configs for assets by @ooctipus
  • Updates actuator configs for Franka arm by @reeceomahoney
• Asset Interfaces
  • Optimizes getters of data inside asset classes by @Mayankm96
  • Adds method to set the visibility of the Asset’s prims by @Mayankm96
• Sensor Interfaces
  • Updates to ray caster ray alignment and customizable drift sampling by @jsmith-bdai
  • Extends ContactSensorData by force_matrix_w_history attribute by @bikcrum
  • Adds IMU projected_gravity_b and optimizations by @jtigue-bdai
• Manager Interfaces
  • Adds serialization to observation and action managers by @jsmith-bdai
  • Adds concatenation dimension to ObservationManager by @pascal-roth
  • Supports composite observation space with min/max by @ooctipus
  • Changes counter update in CommandManager by @pascal-roth
  • Integrates NoiseModel to manager-based workflows by @ozhanozen
  • Updates NoiseModelWithAdditiveBias to apply per-feature bias by @ozhanozen
  • Fixes isaaclab.scene.reset_to to accept None by @ooctipus
  • Resets step reward buffer properly by @bikcrum
• Terrain Generation
  • Custom TerrainGenerator support by @pascal-roth
  • Adds terrain border options by @pascal-roth
  • Platform height independent of object height by @jtigue-bdai
  • Adds noise to MeshRepeatedObjectsTerrain by @jtigue-bdai
• Simulation
  • Raises exceptions from SimContext init callbacks
  • Applies semantic_tags to ground by @KumoLiu
  • Sets enable_stabilization to false by default by @AntoineRichard
  • Fixes deprecation for pxr.Semantics by @kellyguo11
• Math Utilities
  • Improves euler_xyz_from_quat by @ShaoshuSu
  • Optimizes yaw_quat by @hapatel-bdai
  • Changes quat_apply and quat_apply_inverse by @jtigue-bdai
  • Changes quat_box_minus by @jtigue-bdai
  • Adds quat_box_plus and rigid_body_twist_transform by @jtigue-bdai
  • Adds math tests for transforms by @jtigue-bdai
• General Utilities
  • Simplifies buffer validation for CircularBuffer by @Mayankm96
  • Modifies update_class_from_dict() by @ozhanozen
  • Allows slicing from list values in dicts by @LinghengMeng @kellyguo11

Tasks API

• Adds support for module:task and gymnasium >=1.0 by @kellyguo11
• Adds RL library error hints by @Toni-SM
• Enables hydra for play.py scripts by @ooctipus
• Fixes ray metric reporting and hangs by @ozhanozen
• Adds gradient clipping for distillation (RSL-RL) by @alessandroassirelli98
• GRU-based RNNs ONNX export in RSL RL by @WT-MM
• Adds wandb support in rl_games by @ooctipus
• Optimizes SB3 wrapper by @araffin
• Enables SB3 checkpoint loading by @ooctipus
• Pre-processes SB3 env image obs-space for CNN pipeline by @ooctipus

Infrastructure

• Dependencies
  • Updates torch to 2.7.0 with CUDA 12.8 by @kellyguo11
  • Updates gymnasium to 1.2.0 by @kellyguo11
  • Fixes numpy version to <2 by @ooctipus
  • Adds license file for OSS by @kellyguo11
  • Sets robomimic to v0.4.0 by @masoudmoghani
  • Upgrades pillow for Kit 107.3.1 by @ooctipus
  • Removes protobuf upper pin by @kwlzn
• Docker
  • Uses --gpus instead of Nvidia runtime by @yanziz-nvidia
  • Adds docker name suffix parameter by @zoemcc
  • Adds bash history support in docker by @AntoineRichard
• Testing & Benchmarking
  • Switches unittest to pytest by @kellyguo11 @pascal-roth
  • Adds training benchmark unit tests by @matthewtrepte
  • Fixes env and IK test failures by @kellyguo11
• Repository Utilities
  • Adds URDF to USD batch conversion script by @hapatel-bdai
  • Adds repository citation link by @kellyguo11
  • Adds pip install warning for internal templates by @ooctipus

Bug Fixes

Core API

• Actuator Interfaces
  • Fixes DCMotor clipping for negative power by @jtigue-bdai
• Asset Interfaces
  • Fixes inconsistent data reads for body/link/com by @ooctipus
• Sensor Interfaces
  • Fixes pose update in Camera and TiledCamera by @pascal-roth
  • Fixes CPU fallback in camera.py by @renaudponcelet
  • Fixes camera intrinsics logic by @jtigue-bdai
• Manager Interfaces
  • Fixes ObservationManager buffer overwrite by @patrickhaoy
  • Fixes term check in event manager by @miguelalonsojr
  • Fixes Modifiers and history buffer bug by @ZiwenZhuang
  • Fixes re-init check in ManagerBase by @Mayankm96
  • Fixes CPU collision filtering by @kellyguo11
  • Fixes imports in InteractiveScene/LiveVisualizer by @Mayankm96
  • Fixes image plot import in Live Visualizer by @pascal-roth
• MDP Terms
  • Fixes CoM randomization shape mismatch by @shendredm
  • Fixes visual prim handling in texture randomization by @KumoLiu
  • Resets joint targets in reset_scene_to_default by @wghou
  • Fixes joint limit terminations by @GiulioRomualdi
  • Fixes joint reset scope in SceneEntityCfg by @ooctipus
• Math Utilities
  • Fixes quat_inv() implementation by @ozhanozen

Tasks API

• Fixes LSTM to ONNX export by @jtigue-bdai

Example Tasks

• Removes contact termination redundancy by @louislelay
• Fixes memory leak in SDF by @leondavi
• Changes randomization to events in Digit envs by @fan-ziqi

Documentation

• Adds Isaac Sim version section to README by @kellyguo11
• Adds physics performance guide by @kellyguo11
• Adds jetbot tutorial to walkthrough docs by @mpgussert
• Changes quickstart install to conda by @mpgussert
• Fixes typo in library docs by @norbertcygiert
• Updates docs for conda, fabric, inference by @kellyguo11
• Adds license/contributing updates with DCO by @kellyguo11
• Updates pytest docs and help by @louislelay
• Adds actuator reference docs by @AntoineRichard
• Updates multi-GPU PyTorch setup docs by @Alex-Omar-Nvidia
• Removes deprecated env var in docs by @Kyu3224

v2.1.0

Overview

This release introduces the official support for teleoperation using the Apple Vision Pro for collecting high-quality and dexterous hand data, including the addition of bi-manual teleoperation and imitation learning workflows through Isaac Lab Mimic.

We have also introduced new randomization methods for USD attributes, including the randomization of scale, color, and textures. In this release, we updated RSL RL to v2.3.1, which introduces many additional features including distributed training, student-teacher distillation, and recurrent student-teacher distillation.

Additionally, we revamped the Extension Template to include an automatic template generator tool from within the Isaac Lab repo. The extension template is a powerful method for users to develop new projects in user-hosted repos, allowing for isolation from the core Isaac Lab repo and changes. The previous IsaacLabExtensionTemplate repo showed a limited example pertaining only to the Manager-based workflow and RSL RL. In the new template generator, users can choose from any supported workflow and RL library, along with the desired RL algorithm. We will be deprecating the standalone IsaacLabExtensionTemplate in the near future.

NVIDIA has also released HOVER as an independent repo, hosting a neural whole body controller for humanoids built on top of Isaac Lab. HOVER includes sim-to-real workflows for deployment on the Unitree H1 robot, which we have also added a tutorial guide for the deployment process in the Isaac Lab documentation.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.0.2…v2.1.0

New Features

• Adds new external project / internal task template generator by @Toni-SM
• Adds dummy agents to the external task template generator by @louislelay
• Adds USD-level randomization mode to event manager by @Mayankm96
• Adds texture and scale randomization event terms by @hapatel-bdai
• Adds replicator event for randomizing colors by @Mayankm96
• Adds interactive demo script for H1 locomotion by @kellyguo11
• Adds blueprint environment for Franka stacking mimic by @chengronglai
• Adds action clipping to rsl-rl wrapper by @Mayankm96
• Adds Gymnasium spaces showcase tasks by @Toni-SM
• Add configs and adapt exporter for RSL-RL distillation by @ClemensSchwarke
• Adds support for head pose for Open XR device by @rwiltz
• Adds handtracking joints and retargetting pipeline by @rwiltz
• Adds documentation for openxr device and retargeters by @rwiltz
• Adds tutorial for training & validating HOVER policy using Isaac Lab by @pulkitg01
• Adds rendering mode presets by @matthewtrepte
• Adds GR1 scene with Pink IK + Groot Mimic data generation and training by @ashwinvkNV
• Adds absolute pose franka cube stacking environment for mimic by @rwiltz
• Enables CloudXR OpenXR runtime container by @jaczhangnv
• Adds a quick start guide for quick installation and introduction by @mpgussert

Improvements

• Clarifies the default parameters in ArticulationData by @Mayankm96
• Removes storage of meshes inside the TerrainImporter class by @Mayankm96
• Adds more details about state in InteractiveScene by @Mayankm96
• Mounts scripts to docker container by @Mayankm96
• Initializes manager term classes only when sim starts by @Mayankm96
• Updates to latest RSL-RL v2.3.0 release by @Mayankm96
• Skips dependency installation for directories with no extension.toml by @jsmith-bdai
• Clarifies layer instructions in animation docs by @tylerlum
• Lowers the default number of environments for camera envs by @kellyguo11
• Updates Rendering Mode guide in documentation by @matthewtrepte
• Adds task instruction UI support for mimic by @chengronglai
• Adds ExplicitAction class to track argument usage in AppLauncher by @nv-mhaselton
• Allows physics reset during simulation by @oahmednv
• Updates mimic to support multi-eef (DexMimicGen) data generation by @nvcyc

Bug Fixes

• Fixes default effort limit behavior for implicit actuators by @jtigue-bdai
• Fixes docstrings inconsistencies the code by @Bardreamaster
• Fixes missing stage recorder extension for animation recorder by @kellyguo11
• Fixes ground height in factory environment by @louislelay
• Removes double definition of render settings by @pascal-roth
• Fixes device settings in env tutorials by @Mayankm96
• Changes default ground color back to dark grey by @Mayankm96
• Initializes extras dict before loading managers by @kousheekc
• Fixes typos in development.rst by @vi3itor
• Fixes SE gamepad omniverse subscription API by @PinkPanther-ny
• Fixes modify_action_space in RslRlVecEnvWrapper by @felipemohr
• Fixes distributed setup in benchmarking scripts by @kellyguo11
• Fixes typo RF_FOOT to RH_FOOT in tutorials by @likecanyon
• Checks if success term exists before recording in RecorderManager by @peterd-NV
• Unsubscribes from debug vis handle when timeline is stopped by @jsmith-bdai
• Fixes wait time in play.py by using env.step_dt by @tylerlum
• Fixes 50 series installation instruction to include torchvision by @kellyguo11
• Fixes importing MotionViewer from external scripts by @T-K-233
• Resets cuda device after each app.update call by @kellyguo11
• Fixes resume flag in rsl-rl cli args by @Mayankm96

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

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

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:

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:

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 compatibility with installation for RSL RL.

Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.0.0…v2.0.1

Improvements

• Switches to RSL-RL install from PyPI by @Mayankm96
• Updates the script path in the document by @fan-ziqi
• Disables extension auto-reload when saving files by @kellyguo11
• Updates documentation for v2.0.1 installation by @kellyguo11

Bug Fixes

• Fixes timestamp of com and link buffers when writing articulation pose to sim by @Jackkert
• Fixes incorrect local documentation preview path in xdg-open command by @louislelay
• Fixes no matching distribution found for rsl-rl (unavailable) by @samibouziri
• Fixes reset of sensor drift inside the RayCaster sensor by @zoctipus

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 work for Scalable Robot Learning using Human Demonstrations.

Additionally, we introduced a new set of AMP tasks based on Adversarial Motion Priors, 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.

Full Changelog: 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

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:

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 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:

from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG

should be replaced with:

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 to ensure the training throughput performance remains the same.

Full Changelog: 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

Improvements

• Removes deprecation for root_state_w properties and setters by @jtigue-bdai
• Fixes MARL workflows for recording videos during training/inferencing by @Rishi-V
• Adds body tracking option to ViewerCfg by @KyleM73
• Fixes the joint_parameter_lookup type in RemotizedPDActuatorCfg to support list format by @fan-ziqi
• Updates pip installation documentation to clarify options by @steple
• Fixes docstrings in Articulation Data that report wrong return dimension by @zoctipus
• Fixes documentation error for PD Actuator by @kellyguo11
• Clarifies ray documentation and fixes minor issues by @garylvov
• Updates code snippets in documentation to reference scripts by @mpgussert
• Adds dict conversion test for ActuatorBase configs by @mschweig

Bug Fixes

• Fixes JointAction not preserving order when using all joints by @T-K-233
• Fixes event term for pushing root by setting velocity by @Mayankm96
• Fixes error in Articulation where default_joint_stiffness and default_joint_damping are not correctly set for implicit actuator by @zoctipus
• Fixes action reset of pre_trained_policy_action in navigation environment by @nicolaloi
• Fixes rigid object’s root com velocities timestamp check by @ori-gadot
• Adds interval resampling on event manager’s reset call by @Mayankm96
• Corrects calculation of target height adjustment based on sensor data by @fan-ziqi
• Fixes infinite loop in repeated_objects_terrain method by @nicolaloi
• Fixes issue where the indices were not created correctly for articulation setters by @AntoineRichard

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

New Features

• Adds Factory contact-rich manipulation tasks to IsaacLab by @noseworm
• Adds a Franka stacking ManagerBasedRLEnv by @peterd-NV
• Adds recorder manager in manager-based environments by @nvcyc
• Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud by @glvov-bdai
• Adds OperationSpaceController to docs and tests and implement corresponding action/action_cfg classes by @ozhanozen
• Adds null-space control option within OperationSpaceController by @ozhanozen
• Adds observation term history support to Observation Manager by @jtigue-bdai
• Adds live plots to managers by @pascal-roth

Improvements

• Adds documentation and example scripts for sensors by @mpgussert
• Removes duplicated TerminationsCfg code in G1 and H1 RoughEnvCfg by @fan-ziqi
• Adds option to change the clipping behavior for all Cameras and unifies the default by @pascal-roth
• Adds check that no articulation root API is applied on rigid bodies by @lgulich
• Adds RayCaster rough terrain base height to reward by @Andy-xiong6
• Adds position threshold check for state transitions by @DorsaRoh
• Adds clip range for JointAction by @fan-ziqi

Bug Fixes

• Fixes noise_model initialized in direct_marl_env by @NoneJou072
• Fixes entry_point and kwargs in isaaclab_tasks README by @fan-ziqi
• Fixes syntax for checking if pre-commit is installed in isaaclab.sh by @louislelay
• Corrects fisheye camera projection types in spawner configuration by @command-z-z
• Fixes actuator velocity limits propagation down the articulation root_physx_view by @jtigue-bdai
• Computes Jacobian in the root frame inside the DifferentialInverseKinematicsAction class by @zoctipus
• Adds transform for mesh_prim of ray caster sensor by @clearsky-mio
• Fixes configclass dict conversion for torch tensors by @lgulich
• Fixes error in apply_actions method in NonHolonomicAction action term. by @KyleM73
• Fixes outdated sensor data after reset by @kellyguo11
• Fixes order of logging metrics and sampling commands in command manager by @Mayankm96

Breaking Changes

• Refactors pose and velocities to link frame and COM frame APIs by @jtigue-bdai

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

New Features

• Adds IMU sensor by @pascal-roth
• Add Camera Benchmark Tool and Allow Correct Unprojection of distance_to_camera depth image by @glvov-bdai
• Creates Manager Based Cartpole Vision Example Environments by @glvov-bdai
• Adds image extracted features observation term and cartpole examples for it by @glvov-bdai
• Supports other gymnasium spaces in Direct workflow by @Toni-SM
• Adds configuration classes for spawning different assets at prim paths by @Mayankm96
• Adds a rigid body collection class by @Dhoeller19
• Adds option to scale/translate/rotate meshes in the mesh_converter by @pascal-roth
• Adds event term to randomize gains of explicit actuators by @MoreTore
• Adds Isaac Lab Reference Architecture documentation by @OOmotuyi

Improvements

• Expands functionality of FrameTransformer to allow multi-body transforms by @jsmith-bdai
• Inverts SE-2 keyboard device actions (Z, X) for yaw command by @riccardorancan
• Disables backward pass compilation of warp kernels by @Mayankm96
• Replaces TensorDict with native dictionary by @Toni-SM
• Improves omni.isaac.lab_tasks loading time by @Toni-SM
• Caches PhysX view’s joint paths when processing fixed articulation tendons by @Toni-SM
• Replaces hardcoded module paths with __name__ dunder by @Mayankm96
• Expands observation term scaling to support list of floats by @pascal-roth
• Removes extension startup messages from the Simulation App by @Mayankm96
• Adds a render config to the simulation and tiledCamera limitations to the docs by @kellyguo11
• Adds Kit command line argument support by @kellyguo11
• Modifies workflow scripts to generate random seed when seed=-1 by @kellyguo11
• Adds benchmark script to measure robot loading by @Mayankm96
• Switches from carb to omni.log for logging by @Mayankm96
• Excludes cache files from vscode explorer by @Divelix
• Adds versioning to the docs by @sheikh-nv
• Adds better error message for invalid actuator parameters by @lgulich
• Updates tested docker and apptainer versions for cluster deployment by @pascal-roth
• Removes ml_archive as a dependency of omni.isaac.lab extension by @fan-ziqi
• Adds a validity check for configclasses by @Dhoeller19
• Ensures mesh name is compatible with USD convention in mesh converter by @fan-ziqi
• Adds sanity check for the term type inside the command manager by @command-z-z
• Allows configclass to_dict operation to handle a list of configclasses by @jtigue-bdai

Bug Fixes

• Disables replicate physics for deformable teddy lift environment by @Mayankm96
• Fixes Jacobian joint indices for floating base articulations by @lorenwel
• Fixes setting the seed from CLI for RSL-RL by @kaixi287
• Fixes camera MDP term name and reprojection docstrings by @Mayankm96
• Fixes deprecation notice for using pxr.Semantics by @Mayankm96
• Fixes scaling of default ground plane by @kellyguo11
• Fixes Isaac Sim executable on pip installation by @Toni-SM
• Passes device from CLI args to simulation config in standalone scripts by @Mayankm96
• Fixes the event for randomizing rigid body material by @pascal-roth
• Fixes the ray_caster_camera tutorial script when saving the data by @mpgussert
• Fixes running the docker container when the DISPLAY env variable is not defined by @GiulioRomualdi
• Fixes default joint pos when setting joint limits by @kellyguo11
• Fixes device propagation for noise and adds noise tests by @jtigue-bdai
• Removes additional sbatch and fixes default profile in cluster deployment by @pascal-roth
• Fixes the checkpoint loading error in RSL-RL training script by @bearpaw
• Fixes pytorch broadcasting issue in EMAJointPositionToLimitsAction by @bearpaw
• Fixes body IDs selection when computing feet_slide reward for locomotion-velocity task by @dtc103
• Fixes broken URLs in markdown files by @DorsaRoh
• Fixes net_arch in sb3_ppo_cfg.yaml for Isaac-Lift-Cube-Franka-v0 task by @LinghengMeng

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, available here: https://github.com/isaac-sim/IsaacLabEureka

Full Changelog: 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
• Adds results for the benchmarks in the documentation here for different types of hardware by @kellyguo11
• Adds the direct workflow Allegro hand environment by @kellyguo11
• Adds video recording to the play scripts in RL workflows by @j3soon
• Adds comparison tables for the supported RL libraries here by @kellyguo11
• Add APIs for deformable asset by @masoudmoghani
• Adds support for MJCF converter by @qqqwan
• Adds a function to define camera configs through intrinsic matrix by @pascal-roth
• Adds configurable modifiers to observation manager by @jtigue-bdai
• Adds the Hydra configuration system for RL training by @Dhoeller19

Improvements

• Uses PhysX accelerations for rigid body acceleration data by @Mayankm96
• Adds documentation on the frames for asset data by @Mayankm96
• Renames Unitree configs in locomotion tasks to match properly by @Mayankm96
• Adds option to set the height of the border in the TerrainGenerator by @pascal-roth
• Adds a cli arg to run_all_tests.py for testing a selected extension by @jsmith-bdai
• Decouples rigid object and articulation asset classes by @Mayankm96
• Adds performance optimizations for domain randomization by @kellyguo11
• Allows having hybrid dimensional terms inside an observation group by @Mayankm96
• Adds a flag to preserve joint order inside JointActionCfg action term by @xav-nal
• Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon
• Adds windows configuration to VS code tasks by @johnBuffer
• Adapts A and D button bindings in the keyboard device by @zoctipus
• Uses torch.einsum for quat_rotate and quat_rotate_inverse operations by @dxyy1
• Expands on articulation test for multiple instances and devices by @jsmith-bdai
• Adds setting of environment seed at initialization by @Mayankm96
• Disables default viewport when headless but cameras are enabled by @kellyguo11
• Simplifies the return type for parse_env_cfg method by @Mayankm96
• Simplifies the if-elses inside the event manager apply method by @Mayankm96

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
• Fixes setting of pose when spawning a mesh by @masoudmoghani
• Fixes caching of the terrain using the terrain generator by @Mayankm96
• Fixes running train scripts when rsl_rl is not installed by @Dhoeller19
• Adds flag to recompute inertia when randomizing the mass of a rigid body by @Mayankm96
• Fixes support for classmethod when defining a configclass by @Mayankm96
• Fixes Sb3VecEnvWrapper to clear buffer on reset by @EricJin2002
• Fixes venv and conda pip installation on windows by @kellyguo11
• Sets native livestream extensions to Isaac Sim 4.1-4.0 defaults by @jtigue-bdai
• Defaults the gym video recorder fps to match episode decimation by @ozhanozen
• Fixes the event manager’s apply method by @kellyguo11
• Updates camera docs with world units and introduces new test for intrinsics by @pascal-roth
• Adds the ability to resume training from a checkpoint with rl_games by @sizsJEon

Breaking Changes

• Simplifies device setting in SimulationCfg and AppLauncher by @Dhoeller19
• Fixes conflict in teleop-device command line argument in scripts by @Dhoeller19
• Converts container.sh into Python utilities by @hhansen-bdai
• 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:

sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False))

Now:

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:

./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu

Now:

./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:

./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:

./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 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:

./docker/container.sh start

Now:

./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.

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.

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

New Features

• Adds distributed multi-GPU learning support for skrl by @Toni-SM
• Updates skrl integration to support training/evaluation using JAX by @Toni-SM
• Adds lidar pattern for raycaster sensor by @pascal-roth
• Adds support for PBS job scheduler-based clusters by @shafeef901
• Adds APIs for spawning deformable meshes by @Mayankm96

Improvements

• Changes documentation color to the green theme by @Mayankm96
• Fixes sphinx tabs to make them work in dark theme by @Mayankm96
• Fixes VSCode settings to work with pip installation of Isaac Sim by @Mayankm96
• Fixes isaaclab scripts to deal with Isaac Sim pip installation by @Mayankm96
• Optimizes interactive scene for homogeneous cloning by @kellyguo11
• Improves docker X11 forwarding documentation by @j3soon

Bug Fixes

• Reads gravity direction from simulation inside RigidObjectData by @Mayankm96
• Fixes reference count in asset instances due to circular references by @Mayankm96
• Fixes issue with asset deinitialization due to torch > 2.1 by @Mayankm96
• Fixes the rendering logic regression in environments by @Dhoeller19
• Fixes the check for action-space inside Stable-Baselines3 wrapper by @Mayankm96
• Fixes warning message in Articulation config processing by @locoxsoco
• Fixes action term in the reach environment by @masoudmoghani
• Fixes training UR10 reach with RL_GAMES and SKRL by @sudhirpratapyadav
• Adds event manager call to simple manage-based env by @Mayankm96

Breaking Changes

• Drops official support for Isaac Sim 2023.1.1
• Removes the use of body view inside the asset classes by @Mayankm96
• Renames SimulationCfg.substeps to SimulationCfg.render_interval by @Dhoeller19

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 framework, we have integrated the RL environment designing workflow from OmniIsaacGymEnvs. This allows users to choose a suitable task-design approach 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

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 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:
  • 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
• From OmniIsaacGymEnvs to IsaacLab