michaellin6 · michaellin6 · Aug 27, 2025 · Aug 27, 2025 · Aug 27, 2025 · Aug 27, 2025
diff --git a/.github/actions/docker-build/action.yml b/.github/actions/docker-build/action.yml
@@ -18,7 +18,7 @@ inputs:
     required: true
   dockerfile-path:
     description: 'Path to Dockerfile'
-    default: 'docker/Dockerfile.base'
+    default: 'docker/Dockerfile.curobo'
     required: false
   context-path:
     description: 'Build context path'

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -94,6 +94,7 @@ jobs:
         isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
 
     - name: Run General Tests
+      id: run-general-tests
       uses: ./.github/actions/run-tests
       with:
         test-path: "tools"
@@ -120,6 +121,12 @@ jobs:
         retention-days: 1
         compression-level: 9
 
+    - name: Fail on Test Failure for Fork PRs
+      if: github.event.pull_request.head.repo.full_name != github.repository && steps.run-general-tests.outcome == 'failure'
+      run: |
+        echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
+        exit 1
+
   combine-results:
     needs: [test-isaaclab-tasks, test-general]
     runs-on: [self-hosted, gpu]
@@ -166,6 +173,7 @@ jobs:
 
     - name: Comment on Test Results
       id: test-reporter
+      if: github.event.pull_request.head.repo.full_name == github.repository
       uses: EnricoMi/publish-unit-test-result-action@v2
       with:
         files: "reports/combined-results.xml"
@@ -179,6 +187,7 @@ jobs:
         action_fail_on_inconclusive: true
 
     - name: Report Test Results
+      if: github.event.pull_request.head.repo.full_name == github.repository
       uses: dorny/test-reporter@v1
       with:
         name: IsaacLab Build and Test Results

diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json
@@ -385,5 +385,20 @@
     "package": "typing-inspection",
     "license" : "UNKNOWN",
     "comment": "MIT"
+  },
+  {
+    "package": "ml_dtypes",
+    "license" : "UNKNOWN",
+    "comment": "Apache 2.0"
+  },
+  {
+    "package": "zipp",
+    "license" : "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "fsspec",
+    "license" : "UNKNOWN",
+    "comment": "BSD"
   }
 ]
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/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -21,6 +21,7 @@ Guidelines for modifications:
 
 * Antonio Serrano-Muñoz
 * Ben Johnston
+* Clemens Schwarke
 * David Hoeller
 * Farbod Farshidian
 * Hunter Hansen
@@ -52,9 +53,9 @@ Guidelines for modifications:
 * Brian Bingham
 * Cameron Upright
 * Calvin Yu
+* Cathy Y. Li
 * Cheng-Rong Lai
 * Chenyu Yang
-* Clemens Schwarke
 * Connor Smith
 * CY (Chien-Ying) Chen
 * David Yang
@@ -70,6 +71,7 @@ Guidelines for modifications:
 * HoJin Jeon
 * Hongwei Xiong
 * Hongyu Li
+* Huihua Zhao
 * Iretiayo Akinola
 * Jack Zeng
 * Jan Kerner
@@ -86,6 +88,7 @@ Guidelines for modifications:
 * Kourosh Darvish
 * Kousheek Chakraborty
 * Lionel Gulich
+* Lotus Li
 * Louis Le Lay
 * Lorenz Wellhausen
 * Lukas Fröhlich
@@ -94,9 +97,11 @@ Guidelines for modifications:
 * Maurice Rahme
 * Michael Gussert
 * Michael Noseworthy
+* Michael Lin
 * Miguel Alonso Jr
 * Mingyu Lee
 * Muhong Guo
+* Neel Anand Jawale
 * Nicola Loi
 * Norbert Cygiert
 * Nuoyan Chen (Alvin)
@@ -106,6 +111,7 @@ Guidelines for modifications:
 * Özhan Özen
 * Patrick Yin
 * Peter Du
+* Philipp Reist
 * Pulkit Goyal
 * Qian Wan
 * Qinxi Yu
@@ -115,6 +121,7 @@ Guidelines for modifications:
 * Ritvik Singh
 * Rosario Scalise
 * Ryley McCarroll
+* Sergey Grizan
 * Shafeef Omar
 * Shaoshu Su
 * Shaurya Dewan
@@ -138,6 +145,7 @@ Guidelines for modifications:
 * Ziqi Fan
 * Zoe McCarthy
 * David Leon
+* Song Yi
 
 ## Acknowledgements
 
@@ -147,4 +155,5 @@ Guidelines for modifications:
 * Gavriel State
 * Hammad Mazhar
 * Marco Hutter
+* Yan Chang
 * Yashraj Narang
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 +191,23 @@ 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.
+
+Note that Isaac Lab requires Isaac Sim, which includes components under proprietary licensing terms. Please see the [Isaac Sim license](docs/licenses/dependencies/isaacsim-license.txt) for information on Isaac Sim licensing.
+
+Note that the `isaaclab_mimic` extension requires cuRobo, which has proprietary licensing terms that can be found in [`docs/licenses/dependencies/cuRobo-license.txt`](docs/licenses/dependencies/cuRobo-license.txt).
 
 ## 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
diff --git a/apps/isaaclab.python.headless.kit b/apps/isaaclab.python.headless.kit
@@ -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"]

diff --git a/apps/isaaclab.python.headless.rendering.kit b/apps/isaaclab.python.headless.rendering.kit
@@ -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"]
@@ -83,6 +83,9 @@ app.updateOrder.checkForHydraRenderComplete = 1000
 app.renderer.waitIdle=true
 app.hydraEngine.waitIdle=true
 
+# Forces serial processing for omni graph to avoid NCCL timeout hangs in distributed training
+app.execution.debug.forceSerial = true
+
 app.audio.enabled = false
 
 # Enable Vulkan - avoids torch+cu12 error on windows

diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit
@@ -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"]

diff --git a/apps/isaaclab.python.rendering.kit b/apps/isaaclab.python.rendering.kit
@@ -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"]

diff --git a/apps/isaaclab.python.xr.openxr.headless.kit b/apps/isaaclab.python.xr.openxr.headless.kit
@@ -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"]

diff --git a/apps/isaaclab.python.xr.openxr.kit b/apps/isaaclab.python.xr.openxr.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.headless.kit b/apps/isaacsim_4_5/isaaclab.python.headless.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.headless.rendering.kit b/apps/isaacsim_4_5/isaaclab.python.headless.rendering.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.kit b/apps/isaacsim_4_5/isaaclab.python.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.rendering.kit b/apps/isaacsim_4_5/isaaclab.python.rendering.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.xr.openxr.headless.kit b/apps/isaacsim_4_5/isaaclab.python.xr.openxr.headless.kit
@@ -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"]

diff --git a/apps/isaacsim_4_5/isaaclab.python.xr.openxr.kit b/apps/isaacsim_4_5/isaaclab.python.xr.openxr.kit
@@ -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"]