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name: environment-customization description: "Customize XBot-L and new humanoid environments safely: config inheritance, task registration, assets, observations/actions, gait reference actions, rewards, domain randomization, terrain modes, and new robot onboarding." disable-model-invocation: true metadata: disco-role: operating license: NO_LICENSE

environment-customization

Use this sub-skill for:

• changing LeggedRobotCfg / LeggedRobotCfgPPO-style configs
• adding a new humanoid robot or environment
• adjusting robot asset paths, body/joint names, default joint angles, PD gains
• changing observation/action layouts, stack sizes, noise vectors, or privileged obs
• tuning reward scales/functions, gait/reference action logic, and domain randomization
• switching between plane, heightfield, and trimesh terrain modes

Do not use this sub-skill for:

• PPO runner execution, training, evaluation, export, or checkpoint loading -> training-and-evaluation
• MuJoCo sim-to-sim rollout or joint mapping -> sim2sim-deployment

Bundle

Read these bundled references first:

• references/configuration.md
• references/task-registration.md
• references/terrain-and-rewards.md
• references/troubleshooting.md

Use these bundled scripts for safe inspection:

• scripts/summarize_xbot_config.py
• scripts/solve_gait_coefficients.py

Working rule

Keep humanoid_ppo intact. When adding a new robot or environment, create a new config/env pair and register a new task id instead of mutating the baseline task in place.

Required consistency checks

Before handing off a customization, confirm:

• asset path resolves under resources/robots/XBot/... or the new robot's equivalent
• body substrings for feet, knees, base/termination contacts match the asset bodies
• every actuated joint has a default_joint_angles entry and a PD gain substring match
• num_single_obs, frame_stack, num_observations, and the noise vector agree
• single_num_privileged_obs, c_frame_stack, and num_privileged_obs agree
• reward scales only name functions that exist as _reward_<name>
• the chosen terrain mode is one of the supported branches
• runtime env instantiation remains behind the Isaac Gym backend gate

Backend note

Static parsing and asset inspection are safe here. Any step that instantiates the Isaac Gym environment still needs Isaac Gym Preview 4; if it is unavailable, report the environment-runtime portion as BLOCKED_REQUIRED_BACKEND and do not claim execution passed. Full real Isaac Gym train/play native verification is routed to training-and-evaluation and remains BLOCKED_REQUIRED_BACKEND without the required backend. This drafted sub-skill is staged only; import is not being performed.