Updates release notes for 2.2 (#3121)

# Description

Updates the release notes docs with the latest release notes for 2.2 and
some other minor documentation updates.
Also fixes new issues with the license checker to add additional
exceptions.

Also using this change to trigger the documentation update for 2.2.

## Type of change

- This change requires a documentation update


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
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.github/workflows/license-exceptions.json

@@ -375,5 +375,10 @@
     "package" : "hf-xet",
     "license" : "UNKNOWN",
     "comment": "Apache 2.0"
+  },
+  {
+    "package": "rpds-py",
+    "license" : "UNKNOWN",
+    "comment": "MIT"
   }
 ]

docs/source/refs/release_notes.rst

@@ -7,21 +7,36 @@ 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.
+Overview
+--------
+
+**Isaac Lab 2.2** brings major upgrades across simulation capabilities, tooling, and developer experience. It expands support for advanced physics features, new environments, and improved testing and documentation workflows. This release includes full compatibility with **Isaac Sim 5.0** as well as backwards compatibility with **Isaac Sim 4.5**.
+
+Key highlights of this release include:
+
+- **Enhanced Physics Support**: Updated `joint friction modeling using the latest PhysX APIs <https://nvidia-omniverse.github.io/PhysX/physx/5.6.1/docs/Articulations.html#articulation-joint-friction>`_, added support for `spatial tendons <https://nvidia-omniverse.github.io/PhysX/physx/5.6.1/docs/Articulations.html#spatial-tendons>`_, and improved surface gripper interactions.
+- **New Environments for Imitation Learning**: Introduction of two new GR1 mimic environments, with domain randomization and visual robustness evaluation, and improved pick-and-place tasks.
+- **New Contact-Rich Manipulation Tasks**: Integration of `FORGE <https://noseworm.github.io/forge/>`_ and `AutoMate <https://bingjietang718.github.io/automate/>`_ tasks for learning fine-grained contact interactions in simulation.
+- **Teleoperation Improvements**: Teleoperation tools have been enhanced with configurable parameters and CloudXR runtime updates, including head tracking and hand tracking.
+- **Performance & Usability Improvements**: Includes support for Stage in Memory and Cloning in Fabric for faster scene creation, new OVD recorder for large-scene GPU-based animation recording, and FSD (Fabric Scene Delegate) for improved rendering speed.
+- **Improved Documentation**: The documentation has been extended and updated to cover new features, resolve common issues, and streamline setup, including updates to teleop system requirements, VS Code integration, and Python environment management.
+
+**Full Changelog**: https://github.com/isaac-sim/IsaacLab/compare/v2.1.1...v2.2.0
+
+
+Isaac Sim 5.0 Updates
+---------------------
+
+* Fixes rendering issues on Blackwell GPUs that previously resulted in overly noisy renders
+* Updates Python version from 3.10 to 3.11
+* Updates PyTorch version to torch 2.7.0+cu128, which will include Blackwell support
+* Drops official support for Ubuntu 20.04, we now officially support Ubuntu 22.04 and 24.04 Linux platforms
+* Isaac Sim 5.0 no longer sets ``/app/player/useFixedTimeStepping=False`` by default. We now do this in Isaac Lab.
 * :attr:`~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``
@@ -33,11 +48,68 @@ Updates and Changes
   * ``Robots/ShadowHand/shadow_hand_instanceable.usd`` --> ``Robots/ShadowRobot/ShadowHand/shadow_hand_instanceable.usd``
 
 
-Current Known Issues
---------------------
+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
+* Adds OVD animation recording feature by @matthewtrepte
+
+Improvements
+------------
+
+* Enables FSD for faster rendering by @nv-mm
+* Sets rtx.indirectDiffuse.enabled to True for performance & balanced rendering presets by @matthewtrepte
+* Changes runner for post-merge pipeline on self-hosted runners by @nv-apoddubny
+* Fixes and improvements for CI pipeline by @nv-apoddubny
+* Adds flaky annotation for tests by @kellyguo11
+* 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 to Isaac Sim 5.0 by @kellyguo11
+* Updates docker CloudXR runtime version by @lotusl-code
+* Removes xr rendering mode by @rwiltz
+* Migrates OpenXRDevice from isaacsim.xr.openxr to omni.xr.kitxr by @rwiltz
+* Implements teleop config parameters and device factory by @rwiltz
+* Updates pick place env to use steering wheel asset by @peterd-NV
+* Adds a CLI argument to set epochs for Robomimic training script by @peterd-NV
+
+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 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
+* 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 humanoid training with new velocity_limit_sim by @AntoineRichard
+
+Documentation
+-------------
 
-* 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.
+* Adds note to mimic cosmos pipeline doc for eval by @shauryadNv
+* Updates teleop docs for 2.2 release by @rwiltz
+* Fixes outdated dofbot path in tutorial scripts by @mpgussert
+* Updates docs for VS Code IntelliSense setup and JAX installation by @Toni-SM
+* Updates Jax doc to overwrite version < 0.6.0 for torch by @kellyguo11
+* Adds docs for fabric cloning & stage in memory by @matthewtrepte
+* Updates driver requirements to point to our official technical docs by @mpgussert
+* Adds warning for ovd recording warning logs spam by @matthewtrepte
+* Adds documentation to specify HOVER version and known GLIBCXX error by @kellyguo11
+* Updates teleop system requirements doc by @lotusl-code
+* Add network requirements to cloudxr teleop doc by @lotusl-code
 
 
 v2.1.1

docs/source/setup/installation/isaaclab_pip_installation.rst

@@ -88,12 +88,12 @@ To learn about how to set up your own project on top of Isaac Lab, see :ref:`tem
 
    .. code-block:: none
 
-      pip install isaaclab[isaacsim,all]==2.1.0 --extra-index-url https://pypi.nvidia.com
+      pip install isaaclab[isaacsim,all]==2.2.0 --extra-index-url https://pypi.nvidia.com
 
 .. note::
 
    Currently, we only provide pip packages for every major release of Isaac Lab.
-   For example, we provide the pip package for release 2.0.0 and 2.1.0, but not 2.0.2.
+   For example, we provide the pip package for release 2.1.0 and 2.2.0, but not 2.1.1.
    In the future, we will provide pip packages for every minor release of Isaac Lab.
 
 

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -951,6 +951,7 @@ class Articulation(AssetBase):
             all the external wrenches will be applied in the frame specified by the last call.
 
             .. code-block:: python
+
                 # example of setting external wrench in the global frame
                 asset.set_external_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], is_global=True)
                 # example of setting external wrench in the link frame