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.