Project Structure

Generated Isaac Lab projects have four layers: the Project, Extension, Module, and Task.

The Project is the generated Git repository. Its root contains the uv workspace configuration, README.md, project utilities under scripts, and Python packages under source. Training, playback, dummy-agent, distributed, and benchmark workflows use uv run isaaclab.

The Extension is an installable package under source. Its pyproject.toml defines Python packaging metadata and the Isaac Lab task-discovery entry point. Its config/extension.toml provides metadata for the Isaac Sim Extension Manager. A project can contain multiple extensions.

The Module contains the Python implementation. By default, it has the same name as the project. The uv workspace installs it in editable mode, and its isaaclab.tasks entry point lets the Isaac Lab CLI import and register its tasks.

The Task defines an environment and its agent configurations. Shared logic lives in the task-family directory, while robot-specific environment and agent configurations live under config/<robot>.

For the template, gym.register is called from the generated Cartpole configuration package: isaac_lab_tutorial/source/isaac_lab_tutorial/isaac_lab_tutorial/tasks/isaac_lab_tutorial_direct/config/cartpole/__init__.py. The extension’s isaaclab.tasks entry point imports that package recursively.