Author an Arena environment

Produce the smallest environment definition that expresses the request and follows a maintained Arena example. Prefer configuration, then composition, then a small extension for a demonstrated gap.

Discover before extending

Use rg --files to find relevant concepts under docs/pages/concepts/, examples under isaaclab_arena_environments/ and isaaclab_arena_examples/, and implementations in isaaclab_arena/ or the relevant first-party extension. Inspect the checked-out source when docs and examples differ; Arena's APIs are evolving.

Use any relevant Arena feature, including untagged classes and Python APIs outside registries. @agent_ready filters the built-in environment generator's prompt catalogues; it does not restrict coding agents. The references below are starting points, not an exhaustive feature inventory. Inspect the registries for registered components. Load registries only in the supported runtime after SimulationApp startup; imports can require USD.