Building Environments

When To Use

Use manager-based environments by default for new single-agent tasks: custom commands and rewards usually fit reusable manager terms. Respect an explicitly requested workflow. Use direct environments for bespoke step/reset control, multi-agent tasks, or a migration that needs parity with a monolithic implementation.

Route Isaac Gym ports to isaaclab-migrating-from-isaac-gym, validated direct-to-manager conversions to isaaclab-converting-direct-to-manager, and targeted sensor, sensor-derived reward or observation, or actuator changes to isaaclab-using-sensors-actuators. For contact-rich manipulation, also read isaaclab-planning-manipulation-tasks.

Infer assets, actions, observations, rewards, resets, termination conditions, training framework, and backend from the request and existing code. Ask only for missing choices that materially affect implementation.

Workflow

Scaffold a new task

Read the template generator guide before creating package scaffolding. From the Isaac Lab checkout or an installed Isaac Lab uv project, run the interactive generator:

uv run isaaclab --new