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name: assets-and-sensors description: "Use assets-and-sensors for IsaacLab asset catalogs, robot and sensor configs, articulation setup, and asset/sensor customization workflows." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Assets and Sensors

Use this sub-skill when the task is about ready-made robot or sensor configs, custom asset definitions, or sensor setup inside Isaac Lab scenes.

Route here for

• Choosing a preconfigured robot or sensor from isaaclab_assets.
• Writing or editing ArticulationCfg, RigidObjectCfg, or sensor config objects.
• Adding cameras, ray casters, contact sensors, or frame transformers to a robot.
• Understanding actuator models, initial state setup, or asset/sensor data access.
• Inspecting the asset catalog without opening the original checkout.

Use other subskills for

• Launching the simulation app or choosing the runtime backend: ../simulation-core/SKILL.md.
• Task registration, preset selectors, or environment discovery: ../tasks-and-presets/SKILL.md.
• RL train/play or checkpoint handling: ../rl-training/SKILL.md.

Working references

• references/asset-catalog.md
• references/robot-and-sensor-configs.md
• references/troubleshooting.md
• scripts/list_assets_catalog.py

Acceptance checks

• Name a valid catalog entry or config family for the requested robot or sensor.
• Explain the key config fields that matter for the requested asset or sensor.
• Use the bundled helper to confirm the exported catalog names when needed.