Add a task

Add a task#

  1. Preset — presets/<method>.py with def apply_<method>(cfg) -> None (or compose existing apply_* functions). See Tasks and presets for apply_zest walkthrough.

  2. Export from presets/__init__.py

  3. Task builder in robots/<id>/tasks.py; register WbcTaskConfig

  4. Document — add a page under Tasks and presets; cite the paper in Research & citations

  5. Smoke test — uv run wbc-mjlab-train --task Wbc-... --dataset samples

For external robots, stack presets in an extension package — see Extension packages.

MDP changes (new reward/RSI terms) belong in env/mdp/ and require an issue first — see Contributing.

Related: Architecture overview, Shared MDP, Extensions.