Contributing — New Tasks

Use this guide to add a task package, check it with an agent, and update its catalog metadata.

1. Choose a task template

Copy a task package from srb/tasks. Choose the template that matches the task family:

2. Create the task package

Give the package a unique name. Keep it under the matching task family for recursive registration, and update its registration and configuration.

3. Adapt the environment

• Scene: Change the assets and layout to match the scenario.
• Robot: Specify a suitable robot category.
• Task: Define the task logic and objectives, including its observation space, reward function, and termination condition.

4. Register the task

Runtime commands reject a task missing from docs/data/tasks.toml or the offline cache. These steps require Isaac Sim.

1. Add the task table and ownership row: python3 scripts/sync_task_sidecars.py --write
2. Fill in the task’s tagline in docs/data/tasks.toml.
3. Refresh the offline cache: srb cache update
4. Regenerate the catalog pages: srb doc docgen

5. Run an agent to check the task

References: srb agent teleop, srb agent zero, and srb agent rand.

srb agent teleop -e <your_task_name> env.debug_vis=true env.num_envs=4
srb agent zero -e <your_task_name> env.debug_vis=true env.num_envs=4
srb agent rand -e <your_task_name> env.debug_vis=true env.num_envs=4

6. Use the task in a workflow

Reference: Workflows

Use the task with workflows that support its configuration, action space, and runtime interfaces. Check compatibility before training, deployment, or validation.