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+# AGENTS.md
+
+This file provides guidance to AI coding agents (Claude Code, OpenAI Codex, etc.) when working with code in this repository.
+
+## Docker Environment
+
+All commands (tests, linting, training scripts, etc.) must be run inside the Docker container. The default container is `isaaclab_arena-latest`, started via:
+
+```bash
+./docker/run_docker.sh          # build image (if needed) and start/attach
+./docker/run_docker.sh -r       # force rebuild
+./docker/run_docker.sh -g       # include GR00T N1.6 dependencies
+./docker/run_docker.sh -d ~/datasets -m ~/models -e ~/eval  # custom mount dirs
+```
+
+The repo root is mounted at `/workspaces/isaaclab_arena` inside the container. To run a command in the already-running container:
+
+```bash
+docker exec isaaclab_arena-latest bash -c "cd /workspaces/isaaclab_arena && <command>"
+```
+
+**Important:** Use `/isaac-sim/python.sh` as the Python interpreter inside the container (not `python` or `python3`).
+
+```bash
+# Example: run kitchen_pick_and_place with zero_action policy
+docker exec isaaclab_arena-latest bash -c "cd /workspaces/isaaclab_arena && \
+  /isaac-sim/python.sh isaaclab_arena/evaluation/policy_runner.py \
+  --policy_type zero_action \
+  --num_steps 10 \
+  kitchen_pick_and_place \
+  --object cracker_box \
+  --embodiment franka"
+```
+
+## Common Commands
+
+### Running Tests
+
+Tests require Isaac Sim and run via pytest:
+
+```bash
+# Run all tests
+/isaac-sim/python.sh -m pytest isaaclab_arena/tests/
+
+# Run a single test file
+/isaac-sim/python.sh -m pytest isaaclab_arena/tests/test_asset_registry.py
+
+# Run a specific test function
+/isaac-sim/python.sh -m pytest isaaclab_arena/tests/test_asset_registry.py::test_default_assets_registered
+
+# Run tests that require cameras
+/isaac-sim/python.sh -m pytest isaaclab_arena/tests/ -m with_cameras
+```
+
+### Linting, Formatting, and Coding Style
+
+Pre-commit hooks enforce the style guide: black (line length 120), flake8, isort, pyupgrade (py310+), and codespell. Run checks **before** committing — not after:
+
+```bash
+# Install pre-commit hooks
+pre-commit install
+
+# Run all checks (if hooks modify files, stage them and re-run before committing)
+pre-commit run --all-files
+```
+
+### Contributing
+
+All commits must be signed off per DCO requirements:
+```bash
+git commit -s -m "Your commit message"
+```
+
+**Branch naming:** `<username>/feature-desc` (e.g. `cvolk/feature-video-recording`, `cvolk/refactor-no-unwrap`).
+
+**Commit messages:**
+- Subject: imperative mood, ~50 chars, no trailing period (e.g. "Fix attribute access on wrapped env")
+- Separate subject from body with a blank line
+- Body: explain *what* and *why* (not how — the diff shows that), wrap at 72 chars
+- Do not include AI attribution lines (e.g. "Co-Authored-By: Claude...")
+
+**PR iteration:** when addressing review feedback, add new commits rather than amending existing ones — this lets reviewers easily verify each change was addressed.
+
+## Conventions
+
+### Wrapped Environment
+
+`ArenaEnvBuilder.make_registered()` returns the gym-wrapped env (not the base env). Use `env.unwrapped` explicitly to access Isaac Lab-specific attributes (`cfg`, `device`, `step_dt`, etc.) that are not forwarded by gymnasium's `OrderEnforcing` wrapper:
+
+```python
+env = arena_builder.make_registered()   # wrapped env
+env.step(actions)                       # goes through OrderEnforcing
+env.unwrapped.cfg                       # access Isaac Lab config
+env.unwrapped.device                    # access Isaac Lab device
+```
+
+### Test Infrastructure
+
+Simulation tests use an inner/outer function pattern to handle Isaac Sim's process lifecycle:
+
+```python
+def _test_foo(simulation_app):  # runs inside SimulationApp
+    from isaaclab_arena.X import Y  # deferred imports after sim init
+    ...
+    return True  # indicates pass
+
+def test_foo():  # pytest-visible outer function
+    result = run_simulation_app_function(_test_foo)
+    assert result
+```
diff --git a/CLAUDE.md b/CLAUDE.md
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+@AGENTS.md