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name: isaaclab description: "Use IsaacLab for robotics simulation, asset and sensor catalogs, task presets, RL wrappers, imitation learning, teleoperation, and repo tooling workflows." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Isaac Lab

Use this repo skill when the task names IsaacLab, the isaaclab package, or one of the repo’s major workflow packages and scripts.

Quick start

• Read references/repo-provenance.md first when checking whether this skill still matches the checkout.
• Install the standard package set with ./isaaclab.sh -i, or install only the core packages with ./isaaclab.sh -i core.
• Use ./isaaclab.sh -i isaacsim when you need the Isaac Sim based stack.
• Verify the environment with:
  • python -m pip check
  • python -I -c "import isaaclab, isaaclab_tasks, isaaclab_assets"
  • ./isaaclab.sh --help
• Use scripts/inspect_isaaclab_install.py for a fast install and import summary.

Route by task

• sub-skills/simulation-core/SKILL.md — launch simulation, choose physics and renderer backends, use AppLauncher, and reason about core runtime config.
• sub-skills/assets-and-sensors/SKILL.md — work with isaaclab_assets, robot and sensor configs, and asset catalog inspection.
• sub-skills/tasks-and-presets/SKILL.md — list environments, resolve preset selectors, and parse task configs.
• sub-skills/rl-training/SKILL.md — run train and play, choose RL libraries, and load checkpoints or video runs.
• sub-skills/imitation-and-teleop/SKILL.md — work with Mimic, teleoperation, OpenXR/CloudXR, and retargeters.
• sub-skills/tooling-and-deployment/SKILL.md — maintain docs, tests, conversion tools, changelog fragments, scaffolding, and deployment helpers.

Common commands

• ./isaaclab.sh -p ... — run Python inside an Isaac Lab-aware environment.
• ./isaaclab.sh train ... / ./isaaclab.sh play ... — RL entrypoints.
• ./isaaclab.sh -t — run tests.
• ./isaaclab.sh -f — run formatting and lint hooks.
• ./isaaclab.sh -d — build docs from source.
• ./isaaclab.sh -n ... — scaffold a new project or task.
• ./isaaclab.sh -c / ./isaaclab.sh -u — create a new Conda or uv environment.

Working notes

• Keep runtime guidance self-contained inside this skill tree.
• Do not rely on the original checkout after reading the bundled references.
• For install details, command semantics, and backend caveats, use references/installation-and-cli.md and references/troubleshooting.md.