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
|
env.observations.<group>.<term>.noise
|
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
|
env.events.<name> using geom_friction
|
Push robot |
EventTerm(...push)
|
cfg.domain_rand.push_robots
|
env.events.push_robot
|
PD gain DR |
EventTerm(...stiffness)
|
cfg.domain_rand.randomize_motor_strength
|
env.events.pd_gains
|
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
|