name	ttrl-isaaclab-editor
description	Use when modifying, extending, debugging, or reviewing the TTRL IsaacLab table-tennis repository at /shared_disk/users/fanyahao/TTRL, especially for task registration, TTEnv or G1Planner env behavior, rewards, observations, actions, resets, serving logic, physics, assets, play or eval variants, latent-skill integration, RSL-RL runners, predictor integration, or checkpoint-sensitive task variants.

TTRL IsaacLab Editor

Route edits in TTRL to the smallest correct ownership layer before changing code.

Required Load Order

Treat /shared_disk/users/fanyahao/TTRL as the source of truth.
Read repo instructions and local task notes before editing.
Start with selection-guide.md.
Then load edit-layer-decision-tree.md.
Then load exactly one recipe that matches the request.
Then load exactly one source note for the first-owner layer.
Only load external-isaaclab.md if the local repo and this skill are insufficient.

Load Recipes By Intent

Existing reward, observation, action, reset, serve, or eval behavior edit -> task-customization.md
New task variant, eval variant, or config variant -> task-authoring.md
Runner, policy, predictor, latent-skill module, checkpoint, resume, export, or training bridge change -> training-extension.md
Validation, compatibility, or completion checks -> validation-checklists.md

Load Source Notes By Ownership

Task ids, task registry, train/eval config resolution -> task-registration.md
Shared table-tennis env base, reset loop, observation assembly, serve lifecycle, prediction bridge -> env-base.md
Planner task family, planner-specific cfg, right-arm latent-skill contract, eval variant -> g1-planner-task.md
Reward, event, curriculum, and serve-randomization helpers -> mdp.md
Ball aerodynamics and physics-side force integration -> physics.md
Robot, ball, and table asset contracts -> assets.md
RSL-RL runners, latent-skill policy modules, and training-side action contract -> rsl-rl.md
CLI flags, wrappers, play/eval/train entrypoints, and predictor routing -> scripts.md

Working Rules

Anchor to g1_planner and g1_planner_eval, not the older t1_tt examples still present in TTRL/README.md.
Prefer the narrowest owner: task cfg or task env before shared base; local wrapper before runner; local runner before generic module.
If an observation or action contract changes, inspect TTEnv or G1PlannerEnv, LeggedLabGymEnvAdapter, LeggedLabRslRlVecEnvWrapper, agent cfg, and runner compatibility in the same work item.
If checkpoint compatibility may break, prefer a new task id or explicit variant rather than silently mutating the existing training path.
Use symbol search when paths drift: task_registry.register, G1PlannerEnvCfg, ball_reset_ids, update_prediction, skill_resume_path, OnPolicyPredictorRegressionRunner.

TTRL IsaacLab Editor

Route edits in TTRL to the smallest correct ownership layer before changing code.

Required Load Order

Treat /shared_disk/users/fanyahao/TTRL as the source of truth.

Read repo instructions and local task notes before editing.

Start with selection-guide.md.

Then load edit-layer-decision-tree.md.

Then load exactly one recipe that matches the request.

Then load exactly one source note for the first-owner layer.

Only load external-isaaclab.md if the local repo and this skill are insufficient.

Load Recipes By Intent

Existing reward, observation, action, reset, serve, or eval behavior edit -> task-customization.md

New task variant, eval variant, or config variant -> task-authoring.md

Runner, policy, predictor, latent-skill module, checkpoint, resume, export, or training bridge change -> training-extension.md

Validation, compatibility, or completion checks -> validation-checklists.md

Load Source Notes By Ownership

Task ids, task registry, train/eval config resolution -> task-registration.md

Shared table-tennis env base, reset loop, observation assembly, serve lifecycle, prediction bridge -> env-base.md

Planner task family, planner-specific cfg, right-arm latent-skill contract, eval variant -> g1-planner-task.md

Reward, event, curriculum, and serve-randomization helpers -> mdp.md

Ball aerodynamics and physics-side force integration -> physics.md

Robot, ball, and table asset contracts -> assets.md

RSL-RL runners, latent-skill policy modules, and training-side action contract -> rsl-rl.md

CLI flags, wrappers, play/eval/train entrypoints, and predictor routing -> scripts.md

Working Rules

Anchor to g1_planner and g1_planner_eval, not the older t1_tt examples still present in TTRL/README.md.

Prefer the narrowest owner: task cfg or task env before shared base; local wrapper before runner; local runner before generic module.

If an observation or action contract changes, inspect TTEnv or G1PlannerEnv, LeggedLabGymEnvAdapter, LeggedLabRslRlVecEnvWrapper, agent cfg, and runner compatibility in the same work item.

If checkpoint compatibility may break, prefer a new task id or explicit variant rather than silently mutating the existing training path.

Use symbol search when paths drift: task_registry.register, G1PlannerEnvCfg, ball_reset_ids, update_prediction, skill_resume_path, OnPolicyPredictorRegressionRunner.

ttrl-isaaclab-editor