simulation/modules/IsaacLab/AGENTS.md

IsaacLab Guidelines

Breaking API changes

• Breaking changes require a deprecation first. Do not remove or rename public API symbols without deprecating them in a prior release.

API design rules (naming + structure)

• Group by common prefix for discoverability (autocomplete).
  • Classes: group by domain concept — ActuatorNetLSTM, ActuatorNetMLP (not LSTMActuatorNet, MLPActuatorNet).
  • Methods: group by noun before modifier — set_joint_position_target() (not set_target_joint_position()).
• Method names are snake_case.
• CLI arguments are snake_case.
• Prefer nested classes when self-contained.
  • If a helper type or an enum is only meaningful inside one parent class and doesn't need a public identity, define it as a nested class instead of creating a new top-level class/module.
• Follow PEP 8 for Python code.
• Use modern Python type-hint syntax.
  • Prefer PEP 604 unions: x | y, x | None. Do not use typing.Union or typing.Optional.
• Use specific type hints for public interfaces.
  • For torch tensors, annotate with torch.Tensor. For Warp arrays, annotate concrete dtypes (e.g., wp.array(dtype=wp.vec3)) rather than generic object.
  • Prefer consistent parameter names across base/override APIs (e.g., xforms, scales, colors, materials).
• Use Google-style docstrings.
  • Write clear, concise docstrings that explain what the function does, its parameters, and its return value.
  • Keep argument/return types in function annotations, not inline in docstrings.
  • In Args: entries, use name: description (not name (Type): description).
  • Use Sphinx cross-reference roles for symbol references (e.g. :class:, :meth:, :attr:, :paramref:), but keep targets as short as possible.
  • Within the same class/module, prefer short local references (e.g. :meth:\set_joint_position_target`, :attr:`num_joints``) over fully qualified paths.
  • If qualification is needed, prefer public API paths (e.g. isaaclab.assets.Articulation) and do not use internal _src or private module paths in Sphinx role targets.
• State SI units for all physical quantities in docstrings.
  • Use inline [unit] notation, e.g. """Particle positions [m], shape [particle_count, 3], float.""".
  • For joint-type-dependent quantities use [m or rad, depending on joint type].
  • For spatial vectors annotate both components, e.g. [N, N·m].
  • For compound arrays list per-component units, e.g. [0] k_mu [Pa], [1] k_lambda [Pa], ....
  • When a parameter's interpretation varies across solvers, document each solver's convention instead of a single unit.
  • Skip non-physical fields (indices, keys, counts, flags).
  • This rule applies to public API docstrings only, not test docstrings.
• Keep the documentation up-to-date.
  • When adding new files or symbols that are part of the public-facing API, make sure to keep the auto-generated documentation updated by running ./isaaclab.sh -d.

Dependencies

• Avoid adding new required dependencies. IsaacLab's core should remain lightweight and minimize external requirements.
• Strongly prefer not adding new optional dependencies. If additional functionality requires a new package, carefully consider whether the benefit justifies the added complexity and maintenance burden. When possible, implement functionality using existing dependencies, including Warp functions and kernels, NumPy, or the standard library.

Tooling: prefer ./isaaclab.sh -p for running, testing, and benchmarking

We use a wrapped python call within ./isaaclab.sh.

• Use ./isaaclab.sh -p -c for inline Python: When running one-off Python commands, use ./isaaclab.sh -p -c "..." instead of python3 -c "...".
• Use ./isaaclab.sh -p to run standalone Python scripts without a pyproject.toml (e.g., in CI after switching to a branch with no project files).

Run tests

# run all tests (extremely heavy, should be avoided).
./isaaclab.sh -t

# run a specific test file by name
./isaaclab.sh -p -m pytest PATH_TO_TEST

# run a specific example test
./isaaclab.sh -p -m pytest PATH_TO_TEST::METHOD

Pre-commit (lint/format hooks)

CRITICAL: Always run pre-commit hooks BEFORE committing and BEFORE pushing.

Proper workflow:

1. Make your code changes
2. Run ./isaaclab.sh -f to check ALL files
3. If pre-commit modifies any files (e.g., formatting), review the changes
4. Stage the modified files with git add
5. Run ./isaaclab.sh -f again to ensure all checks pass
6. Only then create your commit with git commit
7. Verify pre-commit still passes before pushing — never push commits that haven't been checked

# Run pre-commit checks on all files
./isaaclab.sh -f

Common mistakes to avoid:

• Don't commit first and then run pre-commit (requires amending commits)
• Don't push before running pre-commit (pushes broken code to the remote)
• Do run pre-commit before committing and before pushing (clean workflow)

When reviewing code (e.g. via a code-reviewer agent), always run ./isaaclab.sh -f as part of the review to catch formatting or lint issues early.

Changelog

• Do not edit CHANGELOG.rst or config/extension.toml directly. Each PR adds a fragment file under source/<package>/changelog.d/; the changelog and version are compiled by the nightly CI workflow.

• Add one fragment per touched package. Pick any short, unique slug for the filename — your branch name (with / replaced by -) is a good default. The filename suffix declares the bump tier; within a batch the highest tier wins for the package.

  Filename	Effect
  source/<pkg>/changelog.d/<slug>.rst	patch bump
  source/<pkg>/changelog.d/<slug>.minor.rst	minor bump
  source/<pkg>/changelog.d/<slug>.major.rst	major bump
  source/<pkg>/changelog.d/<slug>.skip	no entry, no bump (CI / docs / test-only)

• Use past tense matching the section header: "Added X", "Fixed Y", "Changed Z".

• Place entries under the correct category: Added, Changed, Deprecated, Removed, or Fixed.

• Avoid internal implementation details users wouldn't understand.

• For Deprecated, Changed, and Removed entries, include migration guidance.

  • Example: "Deprecated Articulation.A in favor of Articulation.B."

• Breaking changes belong in Changed, prefixed with **Breaking:**.

• Use Sphinx cross-reference roles for class/method/module names.

RST formatting reference

Added
^^^^^

* Added :class:`~package.ClassName` to support feature X.

Fixed
^^^^^

* Fixed edge case in :meth:`~package.ClassName.method` where input was
  not validated, causing ``AttributeError`` at runtime.

Key formatting rules:

• Category heading: underline with ^ (carets), at least as long as the heading text.
• Entries: * prefix, continuation lines indented by 2 spaces.

See tools/changelog/test/integration/ for worked examples that double as integration-test fixtures.

Commit and Pull Request Guidelines

Follow conventional commit message practices.

• Use feature branches: All development work should be on branches named <username>/feature-desc (e.g., jdoe/docs-versioning). Do not commit directly to main.
• Keep commits focused and atomic—one logical change per commit.
• Reference related issues in commit messages when applicable.
• When iterating on PR feedback, prefer adding new commits over amending existing ones. This avoids force-pushing and lets the reviewer easily verify each change request was addressed.
• Do not include AI attribution or co-authorship lines (e.g., "Co-Authored-By: Claude...") in commit messages. Commits should represent human contributions without explicit AI attribution.
• Commit message format:
  • Separate subject from body with a blank line
  • Subject: imperative mood, capitalized, ~50 chars, no trailing period
    • Write as a command: "Fix bug" not "Fixed bug" or "Fixes bug"
    • Test: "If applied, this commit will [your subject]"
  • Body: wrap at 72 chars, explain what and why (not _how_—the diff shows that)

File headers and copyright

• New files must use the current year (2026) in the SPDX copyright header:

  # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
  # All rights reserved.
  #
  # SPDX-License-Identifier: BSD-3-Clause
  

• Do not change the year in existing file headers.

Sandbox & Networking

• Network access (e.g., git push) is blocked by the sandbox. Use dangerouslyDisableSandbox: true so the user gets an approval prompt — don't ask them to run it manually.
• Never push to origin (isaac-sim/IsaacLab). The origin remote is the public upstream repository. Push to your own fork remote (e.g., antoine, alex) or to the remote of the PR you are working on. If the correct remote is unclear, ask the user before pushing.

GitHub Actions and CI/CD

• Pin actions by major version tag (e.g. actions/checkout@v6). Use the same major version that other workflows in .github/workflows/ already use — don't introduce a new major version without checking how it's used elsewhere.

Testing Guidelines

• Always verify regression tests fail without the fix. When writing a regression test for a bug fix, temporarily revert the fix and run the test to confirm it fails. Then reapply the fix and verify the test passes. This ensures the test actually covers the bug.

Debugging Warp kernels

Do not add wp.printf to kernels in production code. Debug prints in Warp kernels affect performance and can produce noisy test output. Use them only in standalone reproduction scripts during development, and always remove them before committing.

To debug Warp kernel behavior:

1. Write a standalone reproduction script and run it directly with ./isaaclab.sh -p -c "..." or ./isaaclab.sh -p script.py. This keeps stdout visible and avoids the test framework entirely.
2. Use high-precision format strings for floating-point debugging (e.g., wp.printf("val=%.15e\n", x)) — the default %f format hides values smaller than ~1e-6 that can still affect control flow.
3. Remove all wp.printf calls before committing.