isaaclab-to-mjlab

分类: 测试与安全 | 上传者: cmjang | 下载: 0 | 版本: v1.0（最新）

Use when asked to migrate IsaacLab projects to mjlab, compare IsaacLab and mjlab APIs, import meshes into mjlab tasks, or author new mjlab-native tasks/components directly from local or bundled mjlab docs and examples. Prefer mjlab public APIs, preserve behavior in migration mode, and avoid compatibility layers.

更新日志: Source: GitHub https://github.com/cmjang/isaaclab-to-mjlab

目录结构

当前层级: 根目录

📁 adapters/
- 📁 claude/
  - 📄 README.md 191 B
- 📁 cursor/
  - 📄 isaaclab-to-mjlab.mdc 1.6 KB
- 📁 gemini/
  - 📄 README.md 189 B
- 📁 opencode/
  - 📄 README.md 1.1 KB
📁 agents/
- 📄 openai.yaml 1.1 KB
📁 references/
- 📄 checklist.md 10.2 KB
- 📄 complex-task-migration-playbook.md 6.1 KB
- 📄 docs-interface-diff.md 5.4 KB
- 📄 mapping.md 7.8 KB
- 📄 migration-gotchas.md 1.7 KB
- 📄 migration-rules.md 9.9 KB
- 📄 mjlab-api-actuator.md 1.6 KB
- 📄 mjlab-api-entity.md 2.0 KB
- 📄 mjlab-api-envs.md 2.1 KB
- 📄 mjlab-api-index.md 3.3 KB
- 📄 mjlab-api-managers.md 2.7 KB
- 📄 mjlab-api-pack.md 3.8 KB
- 📄 mjlab-api-rl.md 1.6 KB
- 📄 mjlab-api-scene.md 2.8 KB
- 📄 mjlab-api-sensor.md 2.1 KB
- 📄 mjlab-api-sim.md 1.4 KB
- 📄 mjlab-api-tasks.md 1.4 KB
- 📄 mjlab-api-terrains.md 1.7 KB
- 📄 mjlab-api-viewer.md 1.1 KB
- 📄 mjlab-authoring-recipes.md 7.1 KB
- 📄 mjlab-authoring-workflow.md 6.6 KB
- 📄 mjlab-mdp-builtins.md 3.5 KB
- 📄 mjlab-mesh-import-guidelines.md 5.3 KB
- 📄 official-migrating-from-isaaclab.md 8.6 KB
- 📄 patterns.md 4.5 KB
- 📄 tracking-case-study.md 19.8 KB
📁 scripts/
- 📄 install.sh 14.4 KB
- 📄 package.sh 610 B
📁 shared/
- 📄 isaaclab-to-mjlab-rules.md 4.2 KB
📄 .gitignore 16 B
📄 LICENSE 1.0 KB
📄 README.md 6.7 KB
📄 SKILL.md 11.6 KB

SKILL.md

---
name: isaaclab-to-mjlab
description: Use when asked to migrate IsaacLab projects to mjlab, compare IsaacLab and mjlab APIs, import meshes into mjlab tasks, or author new mjlab-native tasks/components directly from local or bundled mjlab docs and examples. Prefer mjlab public APIs, preserve behavior in migration mode, and avoid compatibility layers.
---

# IsaacLab to mjlab + mjlab Authoring

## Official Repositories

- Migration pattern (official): `https://github.com/mujocolab/anymal_c_velocity`
- mjlab repository (read-only reference): `https://github.com/mujocolab/mjlab`
- IsaacLab repository (source behavior reference): `https://github.com/isaac-sim/IsaacLab`

## Documentation Priority

- Use local `docs/` in the target workspace as source of truth first (for example `mjlab/docs` and `IsaacLab/docs`).
- Read `references/docs-interface-diff.md` before implementation and follow the listed API differences.
- Read `references/mjlab-api-pack.md` for the quick API shortlist.
- Read `references/mjlab-api-index.md` to choose the exact mjlab API domain files you need.
- When writing new mjlab-native code, also read `references/mjlab-authoring-workflow.md`.
- For common coding requests, read `references/mjlab-authoring-recipes.md` and follow the matching minimal recipe instead of exploring broadly.
- Then load only the matching `references/mjlab-api-*.md` and `references/mjlab-mdp-builtins.md` files instead of reading the whole API surface at once.
- Do not bulk-ingest the whole `mjlab/docs` tree or crawl large raw upstream doc sets into context; read only the exact page/signature/example you still need after using the bundled references.
- Fall back to online docs only when local docs are missing or incomplete.

## Reference Resolution Order

- Treat raw paths such as `mjlab/docs/source/...` and `mjlab/src/mjlab/...` as preferred lookup targets only when a local `mjlab/` checkout exists.
- If there is no local `mjlab/` checkout, use this skill's bundled references first:
  - `references/mjlab-api-*.md`
  - `references/mjlab-mdp-builtins.md`
  - `references/mjlab-authoring-workflow.md`
  - `references/mjlab-authoring-recipes.md`
- If the user provides another local mjlab repo path, use that path as the upstream reference root instead of assuming `./mjlab`.
- Use online docs / GitHub only as a last resort for exact upstream signatures or examples missing from both the local checkout and bundled references.
- Do not block `author` mode just because the current workspace has no `mjlab/` directory.

## Working Modes

- `migrate`
  - Use when there is an IsaacLab source task/project to port.
  - Goal: preserve behavior while converting to mjlab-native code.
- `author`
  - Use when writing new mjlab-native code directly.
  - Goal: build tasks/components/configs/scripts that already follow mjlab docs and examples.

If the user does not specify a mode, infer it from the request:
- mentions IsaacLab/source parity/porting -> `migrate`
- mentions write/build/create mjlab task/config/component -> `author`

## Layout Mode (migration only)

- `preserve-layout`:
  - Keep original repository structure and module paths.
  - Only migrate API/config semantics to mjlab.
- `mjlab-layout`:
  - Reorganize into `anymal_c_velocity` style task package layout (for example `src/<task_pkg>/...`).
  - Use `mjlab.tasks` entry points and `register_mjlab_task(...)` for registration.
- If user does not specify, ask first:
  - `Do you want to keep the original project layout, or convert directly to mjlab layout?`

## Shared Workflow

1. Confirm whether the task is `migrate` or `author`.
2. Resolve references in this order: target repo -> local `mjlab/` checkout if present -> bundled skill references -> online docs only if still blocked.
3. Read `references/mjlab-api-pack.md` and lock target APIs.
4. Read `references/mjlab-api-index.md`, then load only the relevant module references:
   - `references/mjlab-api-envs.md`
   - `references/mjlab-api-scene.md`
   - `references/mjlab-api-sim.md`
   - `references/mjlab-api-entity.md`
   - `references/mjlab-api-actuator.md`
   - `references/mjlab-api-sensor.md`
   - `references/mjlab-api-managers.md`
   - `references/mjlab-mdp-builtins.md`
   - `references/mjlab-api-terrains.md`
   - `references/mjlab-api-rl.md`
   - `references/mjlab-api-viewer.md`
   - `references/mjlab-api-tasks.md`
5. If the request involves importing STL / OBJ / other mesh assets, also read `references/mjlab-mesh-import-guidelines.md`.
6. Reuse native mjlab patterns from existing tasks in the target repo first, then from a local `mjlab/` checkout if present, then from bundled references.

## Migration Workflow

1. Confirm migration scope, source path, and target path before editing.
2. Confirm layout mode: `preserve-layout` or `mjlab-layout`.
3. Read `references/migration-rules.md` and enforce all hard constraints.
4. Read `references/docs-interface-diff.md` for API differences from local docs.
5. Read `references/official-migrating-from-isaaclab.md` for boundary notes.
6. Read `references/migration-gotchas.md` for the compressed high-value pitfalls list.
7. If the task is multi-variant / command-heavy / play-eval sensitive, first read `references/complex-task-migration-playbook.md`.
8. If the task is motion tracking / whole-body tracking / reference-motion tracking, then read `references/tracking-case-study.md` as a concrete example, not as the only migration pattern.
9. If the target task family has adjacent tests or registry files, treat them as invariants before editing (for example task `__init__.py` registration files and same-family tests).
10. For complex tasks, first write a variant matrix for base / play / eval / no-state-estimation / low-freq / robot-specific style variants before migrating code.
11. For `mjlab-layout`, align project packaging/registration with `anymal_c_velocity`.
12. Read `references/mapping.md` while replacing imports/fields/term APIs.
13. Read `references/patterns.md` while implementing EnvCfg/SceneCfg/manager structures.
14. If importing STL / OBJ / mesh assets, read `references/mjlab-mesh-import-guidelines.md` and explicitly separate visual mesh from collision representation.
15. Run `references/checklist.md` validation before completion.

## Authoring Workflow

1. Read `references/mjlab-authoring-workflow.md`.
2. Read `references/mjlab-authoring-recipes.md`.
3. Identify the artifact type:
   - new task package
   - new `EnvCfg` or scene
   - new manager terms / MDP helpers
   - new sensors / terrain / RL config / registration
4. Choose the closest example before writing:
   - target-repo example first
   - then local `mjlab/` example if available
   - then bundled skill references if no local `mjlab/` checkout exists
   - velocity-style -> `mjlab/src/mjlab/tasks/velocity/`
   - tracking-style -> `mjlab/src/mjlab/tasks/tracking/`
5. Build the config in mjlab-native order:
   - scene / sensors
   - observations
   - actions
   - commands
   - events
   - rewards
   - terminations
   - curriculum / metrics
   - simulation / viewer / episode settings
6. Prefer existing `mjlab.envs.mdp` helpers before adding custom terms.
7. Prefer the smallest edit surface that satisfies the request:
   - add a term before creating a new subsystem
   - modify robot-specific cfg before cloning a base factory
   - reuse an existing command/reward/event helper before inventing a new class
8. If creating a new task, add RL config plus `register_mjlab_task(...)`.
9. Validate syntax and config wiring before completion.

## Authoring Request Routing

- “Add a reward / penalty” -> `references/mjlab-authoring-recipes.md` + `references/mjlab-mdp-builtins.md`
- “Add an observation / actor-critic input” -> `references/mjlab-authoring-recipes.md` + `references/mjlab-api-managers.md`
- “Add contact / raycast / camera” -> `references/mjlab-authoring-recipes.md` + `references/mjlab-api-sensor.md`
- “Add command / curriculum / reset / DR” -> `references/mjlab-authoring-recipes.md` + `references/mjlab-mdp-builtins.md`
- “Create a new task / new robot env cfg / register a task” -> `references/mjlab-authoring-recipes.md` + `references/mjlab-api-tasks.md` + `references/mjlab-api-rl.md`
- “Import STL / OBJ / mesh assets” -> `references/mjlab-mesh-import-guidelines.md` + `references/mjlab-api-entity.md`
- “Unsure which file to edit” -> first read the “file placement” section in `references/mjlab-authoring-recipes.md`

## Shared Constraints

- Final implementation must be mjlab-native.
- Do not add arbitrary abstractions (extra inheritance/wrappers/major restructuring).
- Do not modify `mujocolab/mjlab` source code.
- Manager configuration must be dict-based (`dict[str, XxxTermCfg]`), not manager `@configclass`.
- Explicitly ban bridge helpers:
  - `manager_terms_to_dict`
  - `AttrDict`
  - `observation_terms_from_class`
- No compatibility layer / adapter shim / transition wrappers.

## Migration Constraints

- Preserve behavior equivalence for rewards, observations, actions, commands, reset/events, terminations, and curriculum.
- Keep function boundaries, call order, and config semantics aligned with source unless mjlab API differences require minimal internal changes.
- Prioritize functional/semantic equivalence over literal code-shape equivalence; if mjlab API constraints prevent a one-to-one implementation, use the smallest mjlab-native adaptation that preserves behavior.
- Do not drop source logic steps, config items, or execution order.
- Remove Isaac/IsaacLab API residue (imports, symbols, stale comments, legacy fields).
- Keep source-specific semantic names (for example `hack_generator`) unless forced field mapping is required.
- Do not keep IsaacLab/Omniverse extension scaffolding by default (`ui_extension_example.py`, `config/extension.toml`, `omni.*` extension files).
- Do not add new `raise` or `assert` if the source task has none, unless a minimal check is explicitly required by mjlab/target API semantics for correctness.
- Do not add fallback logic if the source task has none (no broad `try/except`, no `hasattr`-style fallback branches, no silent degradations), unless a minimal guard is explicitly required by mjlab/target API semantics for correctness.
- Keep original comments/TODOs. If wording must change, only do minimal mjlab terminology updates while preserving meaning.

## Authoring Constraints

- Prefer public `mjlab.*` modules and local task examples before inventing new helper layers.
- Prefer task factories such as `make_xxx_env_cfg()` when a reusable base pattern is helpful.
- Reuse `mjlab.envs.mdp` helper functions/configs whenever they already express the needed behavior.
- Keep new code consistent with existing mjlab task structure, config naming, and registration style.

## Execution Notes

- In `migrate` mode, prefer one-to-one migration, not refactor-oriented rewrite.
- In `author` mode, prefer nearest mjlab-native example, not a framework-agnostic rewrite.
- For API mismatch, use minimal mjlab-native adaptation instead of bridge code.
- When the question is “which mjlab API should replace this IsaacLab piece?”, choose the target module from `references/mjlab-api-index.md` first, then read only the matching reference file.
- For `mjlab-layout`, prefer `anymal_c_velocity` packaging pattern: standalone task package + `mjlab.tasks` entry point + `register_mjlab_task`.
- For `preserve-layout`, keep directory structure and only migrate API/config/registration wiring.
- Managers should be generated via dict factory functions and initialized with `field(default_factory=make_xxx)` when dataclass config style is used.
- If inherited config chains are not supported in target style, flatten them via explicit dict merge/override.
- Follow target project registration conventions (prefer project-level registrar; use `gym.register` only when target project explicitly requires it).

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isaaclab-to-mjlab

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SKILL.md

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