isaac-sim · cathyliyuanchen · Sep 17, 2025 · Sep 18, 2025 · Sep 18, 2025
@@ -26,7 +26,7 @@ permissions:
 env:
   NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
   ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
-  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}
+  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '5.1.0' }}
   DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
 
 jobs:

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -122,6 +122,7 @@ Guidelines for modifications:
 * Ritvik Singh
 * Rosario Scalise
 * Ryley McCarroll
+* Sergey Grizan
 * Shafeef Omar
 * Shaoshu Su
 * Shaurya Dewan

diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@
 
 # Isaac Lab
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 [![Python](https://img.shields.io/badge/python-3.11-blue.svg)](https://docs.python.org/3/whatsnew/3.11.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
@@ -14,6 +14,11 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
+Please note that this branch is currently under active development in preparation for the Isaac Lab 2.3.0 release.
+Some features may not be fully functional while we continue development.
+Additional features may depend on unreleased Isaac Sim features that will be available in Isaac Sim 5.1.0.
+
+
 **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
@@ -140,12 +145,13 @@ Isaac Lab is built on top of Isaac Sim and requires specific versions of Isaac S
 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.X`                      | Isaac Sim 4.5 / 5.0 |
-| `v2.1.X`                      | Isaac Sim 4.5       |
-| `v2.0.X`                      | Isaac Sim 4.5       |
+| Isaac Lab Version             | Isaac Sim Version         |
+| ----------------------------- | ------------------------- |
+| `main` branch                 | Isaac Sim 4.5 / 5.0       |
+| `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
+| `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

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.2.1
+2.3.0
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]
@@ -15,7 +15,7 @@ keywords = ["experience", "app", "isaaclab", "python", "headless"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "5.0.0"
+app.version = "5.1.0"
 
 ##################################
 # Omniverse related dependencies #
@@ -108,7 +108,7 @@ metricsAssembler.changeListenerEnabled = false
 ###############################
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]
@@ -215,6 +215,6 @@ enabled=true # Enable this for DLSS
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
@@ -32,7 +32,7 @@ cameras_enabled = true
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "5.0.0"
+app.version = "5.1.0"
 
 ### FSD
 app.useFabricSceneDelegate = true
@@ -105,7 +105,7 @@ metricsAssembler.changeListenerEnabled = false
 
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]
@@ -156,6 +156,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]
@@ -161,7 +161,7 @@ show_menu_titles = true
 
 [settings.app]
 name = "Isaac-Sim"
-version = "5.0.0"
+version = "5.1.0"
 versionFile = "${exe-path}/VERSION"
 content.emptyStageOnStart = true
 fastShutdown = true
@@ -255,7 +255,7 @@ outDirectory = "${data}"
 ###############################
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]
@@ -302,6 +302,6 @@ fabricUseGPUInterop = true
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
@@ -33,7 +33,7 @@ cameras_enabled = true
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "5.0.0"
+app.version = "5.1.0"
 
 ### FSD
 app.useFabricSceneDelegate = true
@@ -109,7 +109,7 @@ fabricUseGPUInterop = true
 
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/107/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]
@@ -145,6 +145,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR Headless"
 description = "An app for running Isaac Lab with OpenXR in headless mode"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd", "headless"]
@@ -15,7 +15,7 @@ keywords = ["experience", "app", "usd", "headless"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "5.0.0"
+app.version = "5.1.0"
 
 ### FSD
 app.useFabricSceneDelegate = true
@@ -59,6 +59,6 @@ folders = [
 ]
 
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR"
 description = "An app for running Isaac Lab with OpenXR"
-version = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]
@@ -15,7 +15,7 @@ keywords = ["experience", "app", "usd"]
 app.versionFile = "${exe-path}/VERSION"
 app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
-app.version = "5.0.0"
+app.version = "5.1.0"
 
 ### async rendering settings
 # omni.replicator.asyncRendering needs to be false for external camera rendering
@@ -88,6 +88,6 @@ folders = [
 # set the S3 directory manually to the latest published S3
 # note: this is done to ensure prior versions of Isaac Sim still use the latest assets
 [settings]
-persistent.isaac.asset_root.default = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.cloud = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
-persistent.isaac.asset_root.nvidia = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0"
+persistent.isaac.asset_root.default = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.cloud = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
+persistent.isaac.asset_root.nvidia = "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/5.1"
@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.2.1"
+version = "2.3.0"
 
 # 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 = "2.2.1"
+version = "2.3.0"
 
 # 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 = "2.2.1"
+version = "2.3.0"
 
 # 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 = "2.2.1"
+version = "2.3.0"
 
 # 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 = "2.2.1"
+version = "2.3.0"
 
 # 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 = "2.2.1"
+version = "2.3.0"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

@@ -6,8 +6,8 @@
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
-# NVIDIA Isaac Sim version to use (e.g. 5.0.0)
-ISAACSIM_VERSION=5.0.0
+# NVIDIA Isaac Sim version to use (e.g. 5.1.0)
+ISAACSIM_VERSION=5.1.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container

@@ -5,4 +5,4 @@
 # NVIDIA CloudXR Runtime base image
 CLOUDXR_RUNTIME_BASE_IMAGE_ARG=nvcr.io/nvidia/cloudxr-runtime
 # NVIDIA CloudXR Runtime version to use
-CLOUDXR_RUNTIME_VERSION_ARG=5.0.0
+CLOUDXR_RUNTIME_VERSION_ARG=5.1.0
@@ -260,7 +260,7 @@
         {
             "name": "Isaac Sim",
             "url": "https://developer.nvidia.com/isaac-sim",
-            "icon": "https://img.shields.io/badge/IsaacSim-5.0.0-silver.svg",
+            "icon": "https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg",
             "type": "url",
         },
         {

@@ -50,7 +50,7 @@ Install Isaac Sim 5.0:
 
 .. code-block:: bash
 
-    pip install "isaacsim[all,extscache]==5.0.0" --extra-index-url https://pypi.nvidia.com
+    pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com
 
 Install Isaac Lab extensions and dependencies:
 

@@ -198,7 +198,7 @@ There are two options to run the CloudXR Runtime Docker container:
              -p 48005:48005/udp \
              -p 48008:48008/udp \
              -p 48012:48012/udp \
-             nvcr.io/nvidia/cloudxr-runtime:5.0.0
+             nvcr.io/nvidia/cloudxr-runtime:5.1.0
 
       .. note::
          If you choose a particular GPU instead of ``all``, you need to make sure Isaac Lab also runs
@@ -593,6 +593,12 @@ Isaac Lab provides three main retargeters for hand tracking:
    * Handles both left and right hands, converting hand poses to joint angles for the GR1T2 robot's hands
    * Supports visualization of tracked hand joints
 
+.. dropdown:: UnitreeG1Retargeter (:class:`isaaclab.devices.openxr.retargeters.UnitreeG1Retargeter`)
+
+   * Retargets OpenXR hand tracking data to Unitree G1 using Inspire 5-finger hand end-effector commands
+   * Handles both left and right hands, converting hand poses to joint angles for the G1 robot's hands
+   * Supports visualization of tracked hand joints
+
 Retargeters can be combined to control different robot functions simultaneously.
 
 Using Retargeters with Hand Tracking
@@ -634,6 +640,23 @@ Here's an example of setting up hand tracking:
 
 .. _control-robot-with-xr-callbacks:
 
+Here's a diagram for the dataflow and algorithm used in humanoid teleoperation. Using Apple Vision Pro, we collect 26 keypoints for each hand.
+The wrist keypoint is used to control the hand end-effector, while the remaining hand keypoints are used for hand retargeting.
+
+.. figure:: ../_static/teleop/teleop_diagram.jpg
+  :align: center
+  :figwidth: 80%
+  :alt: teleop_diagram
+
+For dex-retargeting, we are currently using the Dexpilot optimizer, which relies on the five fingertips and the palm for retargeting. It is essential
+that the links used for retargeting are defined exactly at the fingertips—not in the middle of the fingers—to ensure accurate optimization.Please refer
+to the image below for hand asset selection, find a suitable hand asset, or add fingertip links in IsaacLab as needed.
+
+.. figure:: ../_static/teleop/hand_asset.jpg
+  :align: center
+  :figwidth: 60%
+  :alt: hand_asset
+
 Adding Callbacks for XR UI Events
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^