Repository Structure

Repository Structure#

This repository is intended for downstream Isaac Lab training formulations.

Shared infrastructure lives under src/isaaclab_training/:

  • mdp/: reusable MDP terms and deploy-aware action wrappers.

  • export/: LEAPP export helpers used by the generic exporter.

  • cli/: package console commands.

  • utils/: small runtime helpers shared by tasks and CLIs.

Concrete task formulations live under src/isaaclab_training/tasks/.

To add a task:

  1. Create tasks/<task_name>/.

  2. Put task-specific scene assets, offsets, rewards, and config classes there.

  3. Reuse shared terms from isaaclab_training.mdp where possible.

  4. Register Gym task IDs in the task config package.

  5. Add focused tests for task registration and deployment metadata.

Use IsaacTraining-... task IDs for new tasks. Keep legacy aliases only when moving an existing task from another package.