---

name: asap description: "Use ASAP to train humanoid policies, retarget SMPL motions, and run sim2sim or sim2real deployment workflows for humanoidverse-based robots." disable-model-invocation: true metadata: disco-role: operating license: MIT

ASAP

Use this skill for the ASAP humanoid learning stack: training and evaluating policies in HumanoidVerse, retargeting SMPL/AMASS motion into robot motion files, and running sim2sim or sim2real deployment helpers.

Install and Import Check

Start with the bundled doctor script from the generated ASAP skill root, then add the backend-specific pieces you need.

python scripts/asap_doctor.py --help
python scripts/asap_doctor.py --repo-root <asap-checkout> --section core

For the common Python stack, install the editable packages plus the repo-local utilities you need:

pip install -e .
pip install -e isaac_utils
# optional for deployment helpers
pip install -e sim2real

Use a CUDA-capable PyTorch build for the training routes and the policy runtime routes that expect GPU acceleration. Install simulator- or hardware-specific SDKs separately when the doctor script reports them missing.

Read references/install-and-backends.md before choosing a simulator backend or attempting motion retargeting or robot deployment.

Route by Task

• Train, evaluate, or export humanoid policies: use sub-skills/training-and-evaluation/SKILL.md for motion-tracking, locomotion, delta-action, checkpoint, and Hydra-config workflows.
• Retarget SMPL or AMASS motion: use sub-skills/motion-retargeting/SKILL.md for shape fitting, motion fitting, asset validation, and MuJoCo visualization.
• Run sim2sim or sim2real deployment: use sub-skills/sim2real-deployment/SKILL.md for MuJoCo playback, ROS2/Unitree bridges, policy toggles, joystick control, and data logging.

Common Starting Points

• If you just need a fast dependency or backend check, run scripts/asap_doctor.py first.
• If a task fails with a Hydra or import-path error, read references/troubleshooting.md before editing commands.
• If a task needs the current repository baseline, read references/repo-provenance.md to compare the checkout against the generated skill snapshot.
• If you are unsure which config group to override, read references/configuration-map.md and then route to the relevant sub-skill.

Shared References

• references/configuration-map.md — Hydra groups, common overrides, and output-directory conventions.
• references/install-and-backends.md — base package install, simulator backends, and external SDK prerequisites.
• references/troubleshooting.md — import, backend, config, and runtime failure patterns.
• references/repo-provenance.md — source commit and evidence baseline for refresh decisions.
• references/repo-routing-metadata.json — structured router placement metadata for import into repo-skills-router.

Boundaries

This is a runtime skill for the ASAP package, not a maintainer release guide. It does not cover unrelated repo maintenance, packaging policy, or non-ASAP robot stacks.

If a task is only about generic PyTorch, general RL theory, or a different simulator stack, route it elsewhere instead of forcing it through ASAP-specific guidance.