Release v2.2.1 · isaac-sim/IsaacLab

👀 Overview

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

Full Changelog: v2.2.0...v2.2.1

Adds contact point location reporting to ContactSensor by @jtigue-bdai in #2842
Adds environments actions/observations descriptors for export by @AntoineRichard in #2730
Adds RSL-RL symmetry example for cartpole and ANYmal locomotion by @Mayankm96 in #3057

Enhances Pink IK controller with null-space posture control and improv… by @michaellin6 in #3149
Adds periodic logging when checking USD path on Nucleus server by @matthewtrepte in #3221
Disallows string value written in sb3_ppo_cfg.yaml get evaluated in process_sb3_cfg by @ooctipus in #3110

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

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

Fixes distributed training hanging issue by @kellyguo11 in #3273
Disables generate internal template when detecting isaaclab install via pip by @ooctipus in #3225
Fixes typo in isaaclab.bat by @ooctipus in #3272
Updates app pathing for user-provided rendering preset mode by @matthewtrepte in #3148

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

Improves termination manager logging to report aggregated percentage of environments done due to each term by @ooctipus in #3107