[Release 2.3.1] Bumps version to 2.3.1 (#4093)

kellyguo11 · web-flow · commit 2107794a21ba · 2025-12-02T12:20:50.000-08:00
# Description Version bump to 2.3.1 for patch release. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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
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: 2.3.0
+version: 2.3.1
 repository-code: https://github.com/NVIDIA-Omniverse/IsaacLab
 type: software
 authors:
diff --git a/README.md b/README.md
@@ -14,11 +14,6 @@
 [![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
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.3.0
+2.3.1
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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]
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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # 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 = "2.3.0"
+version = "2.3.1"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]
diff --git a/docs/source/deployment/docker.rst b/docs/source/deployment/docker.rst
@@ -307,7 +307,7 @@ To pull the minimal Isaac Lab container, run:
 
 .. code:: bash
 
-  docker pull nvcr.io/nvidia/isaac-lab:2.3.0
+  docker pull nvcr.io/nvidia/isaac-lab:2.3.1
 
 To run the Isaac Lab container with an interactive bash session, run:
 
@@ -323,7 +323,7 @@ To run the Isaac Lab container with an interactive bash session, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:2.3.0
+     nvcr.io/nvidia/isaac-lab:2.3.1
 
 To enable rendering through X11 forwarding, run:
 
@@ -342,7 +342,7 @@ To enable rendering through X11 forwarding, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:2.3.0
+     nvcr.io/nvidia/isaac-lab:2.3.1
 
 To run an example within the container, run:
 
diff --git a/docs/source/refs/release_notes.rst b/docs/source/refs/release_notes.rst
@@ -4,6 +4,34 @@ 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.
 
+v2.3.1
+======
+
+What's Changed
+--------------
+
+This is a small patch release with a few critical fixes that impacted user workflows.
+
+Key fixes include:
+* The behavior of termination logging has changed in the manager-based workflow, where ``get_done_term``
+now returns the current step value instead of the last episode value.
+* Additionally, a breaking change in the URDF importer was introduced in Isaac Sim 5.1, where the merge
+joints flag is no longer supported. We have now introduced a patch in the importer to return the behavior.
+Moving forward, we plan to deprecate this flag in favor of preserving asset definitions from URDFs directly
+without performing additional processing during the import process.
+
+Bug Fixes
+---------
+
+* Updates URDF importer to 2.4.31 to continue support for merge-joints by @kellyguo11 in https://github.com/isaac-sim/IsaacLab/pull/4000
+* Separates per-step termination and last-episode termination bookkeeping by @ooctipus in https://github.com/isaac-sim/IsaacLab/pull/3745
+* Uses effort_limit from USD if not specified in actuator cfg by @JuanaDd in https://github.com/isaac-sim/IsaacLab/pull/3522
+* Fixes type name for tendon properties in from_files config by @KyleM73 in https://github.com/isaac-sim/IsaacLab/pull/3941
+* Fixes duplicated text in pip installation docs by @shryt in https://github.com/isaac-sim/IsaacLab/pull/3969
+
+**Full Changelog**: https://github.com/isaac-sim/IsaacLab/compare/v2.3.0...v2.3.1
+
+
 v2.3.0
 ======
 
diff --git a/docs/source/setup/installation/isaaclab_pip_installation.rst b/docs/source/setup/installation/isaaclab_pip_installation.rst
@@ -29,7 +29,7 @@ Installing dependencies
 
    .. code-block:: none
 
-      pip install isaaclab[isaacsim,all]==2.3.0 --extra-index-url https://pypi.nvidia.com
+      pip install isaaclab[isaacsim,all]==2.3.1 --extra-index-url https://pypi.nvidia.com
 
 -  Install a CUDA-enabled PyTorch build that matches your system architecture:
 
