isaaclab-building-environments
Building Environments
When To Use
Use this skill when a user wants to create or register a complete Isaac Lab environment, choose the right task workflow, or adapt an entire existing example into a new task.
For a targeted change to an existing task's sensors, actuators, sensor-derived observations, rewards, or terminations, use isaaclab-using-sensors-actuators instead. A request to add foot contacts, contact history, touchdown timing, or air-time rewards is a sensor workflow even when it also changes an observation or reward config.
Default to manager-based environments for new Isaac Lab tasks because reusable scene, action, observation, reward, command, event, curriculum, and termination terms are the main benefit of the Isaac Lab task framework. Do not use this skill for migrating Isaac Gym tasks. Use the isaaclab-migrating-from-isaac-gym skill when the source is an Isaac Gym or IsaacGymEnvs task. For contact-rich manipulation task staging, pair this with isaaclab-planning-manipulation-tasks.