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name: humanoid-gym description: "Guide Humanoid-Gym users through PPO training, XBot-L environment customization, and MuJoCo sim-to-sim deployment." disable-model-invocation: true metadata: disco-role: operating license: NO_LICENSE

Humanoid-Gym

Use this repo skill when a future agent needs to work with Humanoid-Gym: training or evaluating the bundled humanoid_ppo task, changing the XBot-L environment, or validating/exporting a policy for MuJoCo sim-to-sim.

Read this first

• references/repo-provenance.md if you need to compare the current checkout against the snapshot used to build this skill.
• references/installation-and-backends.md for Python, torch, Isaac Gym, MuJoCo, and CUDA readiness.
• references/troubleshooting.md when setup, import, backend, or checkpoint selection fails.

Main routes

• sub-skills/training-and-evaluation/ — PPO training, evaluation, checkpoint loading, and TorchScript export.
• sub-skills/environment-customization/ — XBot-L config, rewards, terrain, and new robot/environment setup.
• sub-skills/sim2sim-deployment/ — MuJoCo deployment of exported policies and asset/policy validation.

Verified package facts

• Distribution name: humanoid
• Version: 1.0.0
• Registered public task in this checkout: humanoid_ppo
• XBot-L policy dimensions: 705 observations, 219 privileged observations, 12 actions
• The public play.py export path writes logs/<experiment_name>/exported/policies/policy_1.pt

Minimal install and check

Use a Python 3.8 environment for the repo's documented backend stack.

1. Install this checkout in editable mode from a local clone.
2. Install the runtime stack required by the selected route.
3. Confirm import humanoid and python -m pip check.
4. If you need train/play execution, confirm Isaac Gym Preview 4 is installed and importable.

Suggested smoke check:

python -c "import humanoid; print(humanoid.LEGGED_GYM_ROOT_DIR)"

If Isaac Gym is missing, stay in static/command-building mode and use the bundled helpers instead of claiming native training or evaluation succeeded.

Helper script

• scripts/inspect_humanoid_gym_install.py — run this when you want a safe root-level install/resource/backend summary without launching Isaac Gym.

Notes for future agents

• humanoid/scripts/train.py and humanoid/scripts/play.py are the user-facing PPO entry points, but they require the Isaac Gym backend for real execution.
• humanoid/scripts/play.py exports the actor only and hard-codes render/export side effects unless the source file is edited.
• humanoid/scripts/sim2sim.py uses MuJoCo viewer rollout and is best validated with the bundled sim2sim sub-skill.