Sim-to-Sim¶
Move the same task between MuJoCo and Motrix through owner YAMLs and backend contracts.
Backend swap
Select the backend through the task owner YAML.
Owner YAML swap
Add or inspect a backend YAML for an existing task.
Contact and friction
Align contact-related assumptions across simulators.
Reward parity
Check reward terms near backend boundaries.
Playback differences
Understand renderer and snapshot capability differences.
Capability gaps
Document unsupported backend features with evidence.
Config guard
Auto-check policy contract compatibility on cross-backend replay.