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name: sim2sim-deployment description: "Deploy exported TorchScript humanoid policies in MuJoCo sim-to-sim." disable-model-invocation: true metadata: disco-role: operating license: NO_LICENSE

Sim2Sim Deployment

Use this sub-skill when you already have an exported TorchScript policy and need to validate the XBot-L MuJoCo assets, choose plane vs terrain, and launch the rendered sim-to-sim loop safely.

Use this when

• You have a TorchScript policy such as policy_1.pt or policy_example.pt.
• You want to pick the plane MJCF or the terrain MJCF before launch.
• You need to confirm the 705-D observation contract and 12-D action contract before opening the viewer.
• You want a command builder and static validator that do not run the 60s rollout.

Route elsewhere when

• You still need to train, resume, checkpoint, or export a policy. Use training-and-evaluation.
• You need to change XBotLCfg observation/action sizes, frame stack, or control constants. Use environment-customization.
• You need Isaac Gym train/play native verification. That remains BLOCKED_REQUIRED_BACKEND here when the proprietary backend is unavailable; this sub-skill only consumes exported policies.

Bundled helpers

• references/workflow.md
• references/policy-and-assets.md
• references/troubleshooting.md
• scripts/build_sim2sim_command.py
• scripts/validate_sim2sim_assets.py

Operator checklist

1. Validate the repo assets and, optionally, the policy shape.
2. Choose plane or terrain.
3. Build the launch command.
4. Confirm a graphical display path before running MuJoCo.

Short contract

• Policy input: 705 by default, or an explicitly overridden input width when diagnosing a matching export.
• Policy output: 12 actions.
• Simulation loop: MuJoCo + viewer, not headless.
• Main source of truth: the bundled references and scripts in this sub-skill tree.