isaac-sim · kellyguo11 · Aug 29, 2025 · Aug 28, 2025 · Aug 28, 2025 · Aug 28, 2025
diff --git a/CITATION.cff b/CITATION.cff
@@ -1,7 +1,7 @@
 cff-version: 1.2.0
 message: "If you use this software, please cite both the Isaac Lab repository and the Orbit paper."
 title: Isaac Lab
-version: 2.2.0
+version: 2.2.1
 repository-code: https://github.com/NVIDIA-Omniverse/IsaacLab
 type: software
 authors:

diff --git a/README.md b/README.md
@@ -14,14 +14,21 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
-**Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows, such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html), it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real transfer in robotics.
+**Isaac Lab** is a GPU-accelerated, open-source framework designed to unify and simplify robotics research workflows,
+such as reinforcement learning, imitation learning, and motion planning. Built on [NVIDIA Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html),
+it combines fast and accurate physics and sensor simulation, making it an ideal choice for sim-to-real
+transfer in robotics.
 
-Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks. Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.
+Isaac Lab provides developers with a range of essential features for accurate sensor simulation, such as RTX-based
+cameras, LIDAR, or contact sensors. The framework's GPU acceleration enables users to run complex simulations and
+computations faster, which is key for iterative processes like reinforcement learning and data-intensive tasks.
+Moreover, Isaac Lab can run locally or be distributed across the cloud, offering flexibility for large-scale deployments.
 
 
 ## Key Features
 
 Isaac Lab offers a comprehensive set of tools and environments designed to facilitate robot learning:
+
 - **Robots**: A diverse collection of robots, from manipulators, quadrupeds, to humanoids, with 16 commonly available models.
 - **Environments**: Ready-to-train implementations of more than 30 environments, which can be trained with popular reinforcement learning frameworks such as RSL RL, SKRL, RL Games, or Stable Baselines. We also support multi-agent reinforcement learning.
 - **Physics**: Rigid bodies, articulated systems, deformable objects
@@ -118,7 +125,8 @@ For detailed Isaac Sim installation instructions, please refer to
 
 ### Documentation
 
-Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including detailed tutorials and step-by-step guides. Follow these links to learn more about:
+Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including
+detailed tutorials and step-by-step guides. Follow these links to learn more about:
 
 - [Installation steps](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation)
 - [Reinforcement learning](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_existing_scripts.html)
@@ -128,18 +136,16 @@ Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everythi
 
 ## Isaac Sim Version Dependency
 
-Isaac Lab is built on top of Isaac Sim and requires specific versions of Isaac Sim that are compatible with each release of Isaac Lab.
-Below, we outline the recent Isaac Lab releases and GitHub branches and their corresponding dependency versions for Isaac Sim.
+Isaac Lab is built on top of Isaac Sim and requires specific versions of Isaac Sim that are compatible with each
+release of Isaac Lab. Below, we outline the recent Isaac Lab releases and GitHub branches and their corresponding
+dependency versions for Isaac Sim.
 
 | Isaac Lab Version             | Isaac Sim Version   |
 | ----------------------------- | ------------------- |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 |
-| `v2.2.0`                      | Isaac Sim 4.5 / 5.0 |
-| `v2.1.1`                      | Isaac Sim 4.5       |
-| `v2.1.0`                      | Isaac Sim 4.5       |
-| `v2.0.2`                      | Isaac Sim 4.5       |
-| `v2.0.1`                      | Isaac Sim 4.5       |
-| `v2.0.0`                      | Isaac Sim 4.5       |
+| `v2.2.X`                      | Isaac Sim 4.5 / 5.0 |
+| `v2.1.X`                      | Isaac Sim 4.5       |
+| `v2.0.X`                      | Isaac Sim 4.5       |
 
 
 ## Contributing to Isaac Lab
@@ -150,8 +156,8 @@ These may happen as bug reports, feature requests, or code contributions. For de
 
 ## Show & Tell: Share Your Inspiration
 
-We encourage you to utilize our [Show & Tell](https://github.com/isaac-sim/IsaacLab/discussions/categories/show-and-tell) area in the
-`Discussions` section of this repository. This space is designed for you to:
+We encourage you to utilize our [Show & Tell](https://github.com/isaac-sim/IsaacLab/discussions/categories/show-and-tell)
+area in the `Discussions` section of this repository. This space is designed for you to:
 
 * Share the tutorials you've created
 * Showcase your learning content
@@ -171,8 +177,11 @@ or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-
 
 ## Support
 
-* Please use GitHub [Discussions](https://github.com/isaac-sim/IsaacLab/discussions) for discussing ideas, asking questions, and requests for new features.
-* Github [Issues](https://github.com/isaac-sim/IsaacLab/issues) should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.
+* Please use GitHub [Discussions](https://github.com/isaac-sim/IsaacLab/discussions) for discussing ideas,
+  asking questions, and requests for new features.
+* Github [Issues](https://github.com/isaac-sim/IsaacLab/issues) should only be used to track executable pieces of
+  work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features,
+  or general updates.
 
 ## Connect with the NVIDIA Omniverse Community
 
@@ -182,15 +191,19 @@ to spotlight your work.
 
 You can also join the conversation on the [Omniverse Discord](https://discord.com/invite/nvidiaomniverse) to
 connect with other developers, share your projects, and help grow a vibrant, collaborative ecosystem
-where creativity and technology intersect. Your contributions can make a meaningful impact on the Isaac Lab community and beyond!
+where creativity and technology intersect. Your contributions can make a meaningful impact on the Isaac Lab
+community and beyond!
 
 ## License
 
-The Isaac Lab framework is released under [BSD-3 License](LICENSE). The `isaaclab_mimic` extension and its corresponding standalone scripts are released under [Apache 2.0](LICENSE-mimic). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
+The Isaac Lab framework is released under [BSD-3 License](LICENSE). The `isaaclab_mimic` extension and its
+corresponding standalone scripts are released under [Apache 2.0](LICENSE-mimic). The license files of its
+dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
 
 ## Acknowledgement
 
-Isaac Lab development initiated from the [Orbit](https://isaac-orbit.github.io/) framework. We would appreciate if you would cite it in academic publications as well:
+Isaac Lab development initiated from the [Orbit](https://isaac-orbit.github.io/) framework. We would appreciate if
+you would cite it in academic publications as well:
 
 ```
 @article{mittal2023orbit,

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.2.0
+2.2.1
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR Headless"
 description = "An app for running Isaac Lab with OpenXR in headless mode"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd", "headless"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR"
 description = "An app for running Isaac Lab with OpenXR"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR Headless"
 description = "An app for running Isaac Lab with OpenXR in headless mode"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd", "headless"]

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR"
 description = "An app for running Isaac Lab with OpenXR"
-version = "2.2.0"
+version = "2.2.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

@@ -4,6 +4,97 @@ 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.
 
+v2.2.1
+======
+
+Overview
+--------
+
+This is a minor patch release with some improvements and bug fixes.
+
+Full Changelog: https://github.com/isaac-sim/IsaacLab/compare/v2.2.0...v2.2.1
+
+New Features
+------------
+
+- Adds contact point location reporting to ContactSensor by @jtigue-bdai
+- Adds environments actions/observations descriptors for export by @AntoineRichard
+- Adds RSL-RL symmetry example for cartpole and ANYmal locomotion by @Mayankm96
+
+Improvements
+------------
+
+Core API
+~~~~~~~~
+
+- Enhances Pink IK controller with null-space posture control and improvements by @michaellin6
+- Adds periodic logging when checking USD path on Nucleus server by @matthewtrepte
+- Disallows string value written in sb3_ppo_cfg.yaml from being evaluated in process_sb3_cfg by @ooctipus
+
+Infrastructure
+~~~~~~~~~~~~~~
+
+* **Application Settings**
+  - Disables rate limit for headless and headless rendering app by @matthewtrepte, @kellyguo11
+  - Disables ``rtx.indirrectDiffuse.enabled`` in render preset balanced and performance modes by @matthewtrepte
+  - Sets profiler backend to NVTX by default by @soowanpNV, @rwiltz
+* **Dependencies**
+  - Adds hf-xet license by @hhansen-bdai
+  - Fixes new typing-inspection dependency license by @kellyguo11
+* **Testing & Benchmarking**
+  - Adds basic validation tests for scale-based randomization ranges by @louislelay
+  - Adds ``SensorBase`` tests by @jtigue-bdai
+* **Repository Utilities**
+  - Adds improved readout from install_deps.py by @hhansen-bdai
+  - Fixes isaaclab.sh to detect isaacsim_version accurately 4.5 or >= 5.0 by @ooctipus
+  - Disables verbose printing in conftest.py by @ooctipus
+  - Updates pytest flags for isaacsim integration testing by @ben-johnston-nv
+  - Updates CodeOwners to be more fine-grained by @pascal-roth
+  - Fixes minor issues in CI by @nv-apoddubny
+
+Bug Fixes
+---------
+
+Core API
+~~~~~~~~
+
+* **Asset Interfaces**
+  - Fixes setting friction coefficients into PhysX in the articulation classes by @ossamaAhmed
+  - Sets joint_friction_coeff only for selected physx_env_ids by @ashwinvkNV
+* **Manager Interfaces**
+  - Fixes observation space Dict for non-concatenated groups only keeping the last term by @CSCSX
+* **MDP Terms**
+  - Fixes termination term effort limit check logic by @moribots
+  - Broadcasts environment ids inside ``mdp.randomize_rigid_body_com`` by @Foruck
+  - Fixes IndexError in reset_joints_by_scale and reset_joints_by_offset by @Creampelt
+  - Fixes ``terrain_out_of_bounds`` to return tensor instead of bool by @fan-ziqi
+
+Infrastructure
+~~~~~~~~~~~~~~
+
+- Fixes distributed training hanging issue by @kellyguo11
+- Disables generation of internal template when detecting isaaclab install via pip by @ooctipus
+- Fixes typo in isaaclab.bat by @ooctipus
+- Updates app pathing for user-provided rendering preset mode by @matthewtrepte
+
+Documentation
+-------------
+
+- Adds documentation for Newton integration by @mpgussert
+- Adapts FAQ section in docs with Isaac Sim open-sourcing by @Mayankm96
+- Changes checkpoint path in rsl-rl to an absolute path in documentation by @fan-ziqi
+- Fixes MuJoCo link in docs by @fan-ziqi
+- Adds client version direction to XR document by @lotusl-code
+- Fixes broken link in doc by @kellyguo11
+- Fixes typo in list_envs.py script path by @fbeltrao
+- Fixes Franka blueprint env ID in docs by @louislelay
+
+Breaking Changes
+----------------
+
+- Improves termination manager logging to report aggregated percentage of environments done due to each term by @ooctipus
+
+
 v2.2.0
 ======
 
@@ -54,10 +145,10 @@ New Features
 * Adds FORGE tasks for contact-rich manipulation with force sensing to IsaacLab by @noseworm in #2968
 * Adds two new GR1 environments for IsaacLab Mimic by @peterd-NV
 * Adds stack environment, scripts for Cosmos, and visual robustness evaluation by @shauryadNv
-* Updates Joint Friction Parameters to Isaac Sim 5.0 PhysX APIs by @ossamaAhmed in 87130f23a11b84851133685b234dfa4e0991cfcd
-* Adds support for spatial tendons by @ossamaAhmed in 7a176fa984dfac022d7f99544037565e78354067
-* Adds support and example for SurfaceGrippers by @AntoineRichard in 14a3a7afc835754da7a275209a95ea21b40c0d7a
-* Adds support for stage in memory by @matthewtrepte in 33bcf6605bcd908c10dfb485a4432fa1110d2e73
+* Updates Joint Friction Parameters to Isaac Sim 5.0 PhysX APIs by @ossamaAhmed
+* Adds support for spatial tendons by @ossamaAhmed
+* Adds support and example for SurfaceGrippers by @AntoineRichard
+* Adds support for stage in memory by @matthewtrepte
 * Adds OVD animation recording feature by @matthewtrepte
 
 Improvements
@@ -71,7 +162,7 @@ Improvements
 * Updates Mimic test cases to pytest format by @peterd-NV
 * Updates cosmos test files to use pytest by @shauryadNv
 * Updates onnx and protobuf version due to vulnerabilities by @kellyguo11
-* Updates minimum skrl version to 1.4.3 by @Toni-SM in https://github.com/isaac-sim/IsaacLab/pull/3053
+* Updates minimum skrl version to 1.4.3 by @Toni-SM
 * Updates to Isaac Sim 5.0 by @kellyguo11
 * Updates docker CloudXR runtime version by @lotusl-code
 * Removes xr rendering mode by @rwiltz
@@ -84,16 +175,16 @@ Bug Fixes
 ---------
 
 * Fixes operational space unit test to avoid pi rotation error by @ooctipus
-* Fixes GLIBC errors with importing torch before AppLauncher by @kellyguo11 in c80e2afb596372923dbab1090d4d0707423882f0
+* Fixes GLIBC errors with importing torch before AppLauncher by @kellyguo11
 * Fixes rendering preset by @matthewtrepte in cc0dab6cd50778507efc3c9c2d74a28919ab2092
-* Fixes callbacks with stage in memory and organize environment tests by @matthewtrepte in 4dd6a1e804395561965ed242b3d3d80b8a8f72b9
-* Fixes XR and external camera bug with async rendering by @rwiltz in c80e2afb596372923dbab1090d4d0707423882f0
+* Fixes callbacks with stage in memory and organize environment tests by @matthewtrepte
+* Fixes XR and external camera bug with async rendering by @rwiltz
 * Disables selection for rl_games when marl is selected for template generator by @ooctipus
 * Adds check for .gitignore when generating template by @kellyguo11
 * Fixes camera obs errors in stack instance randomize envs by @peterd-NV
 * Fixes parsing for play envs by @matthewtrepte
 * Fixes issues with consecutive python exe calls in isaaclab.bat by @kellyguo11
-* Fixes spacemouse add callback function by @peterd-NV in 72f05a29ad12d02ec9585dad0fbb2299d70a929c
+* Fixes spacemouse add callback function by @peterd-NV
 * Fixes humanoid training with new velocity_limit_sim by @AntoineRichard
 
 Documentation