Language

Task Config Translation Cheatsheet¶

A side-by-side map of common config fields across Isaac Lab / Legged Gym / skrl and UniLab task owner YAMLs.

Env-level¶

Concept	Isaac Lab	Legged Gym	UniLab
Action scale	`action_scale` on env cfg	`action_scale` in env class	`env.action.scale` in owner YAML
Decimation	`decimation` on env cfg	`cfg.control.decimation`	`env.decimation`
Episode length (s)	`episode_length_s`	`cfg.env.episode_length_s`	`env.episode_length_s`
Default joint pos	`init_state.joint_pos`	`default_joint_angles`	`env.default_joint_pos` (or asset-side)
Observation noise	`noise.obs.*`	`cfg.noise.add_noise`	DR provider; see DR docs

Reward¶

Concept	Isaac Lab	Legged Gym	UniLab
Reward term registration	`RewardManager` cfg	`_reward_*` methods	reward registry + env’s `compute_reward`
Reward weight	`RewTerm(weight=…)`	`reward_scales.<name>`	`reward.<name>.weight`
Termination penalty	`Termination` cfg	`_reward_termination`	reward registry term + termination signal

DR¶

Concept	Isaac Lab	Legged Gym	UniLab
Randomize friction	`EventTerm(...friction)`	`cfg.domain_rand.friction_range`	`dr.friction.*` in owner YAML
Push robot	`EventTerm(...push)`	`cfg.domain_rand.push_robots`	`dr.push.*`
PD gain DR	`EventTerm(...stiffness)`	`cfg.domain_rand.randomize_motor_strength`	`dr.actuator.pd_kp_factor`

Curriculum¶

Concept	Isaac Lab	Legged Gym	UniLab
Terrain curriculum	`TerrainCfg.curriculum`	`cfg.terrain.curriculum`	`terrain.curriculum.*`
Command range curriculum	bespoke	`update_command_curriculum`	`unilab.base.curriculum`

See also¶