Farama-Foundation/Gymnasium

[Proposal] Add Tutorials for MuJoCo based environments (contributors welcome)

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#846 opened on Dec 16, 2023

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Description

Proposal

With the release of the MuJoCo-v5 environments, in Gymnasium 1.0.0 (which will be coming out, prior to the heat death of the universe).

We need tutorials on:

  • loading a quadruped custom robot model (WIP https://github.com/Farama-Foundation/Gymnasium/pull/838)
  • loading a bipedal / humanoid custom robot model
  • loading a custom scene e.g. G-Barkour (which will have custom reward, obs?, terminal?)
  • Using robot model with custom simulation options
  • Create a Custom MuJoCo based environment class by subclassing MujocoEnv
  • ??? Transfer learning across different models ???
  • Transfer learning with MuJoCo MPC
  • more tutorials ???

Contributors are welcome, with experience running RL on robotic environments, or with knowledge of the MuJoCo simulator, or with knowledge of Robotics, or just willingness to learn. Comment here or discuss or join the gymnasium discord (invite link on the README) and ping me in the # New Contributors channel.

Motivation

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Pitch

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Alternatives

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Additional context

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Checklist

  • I have checked that there is no similar issue in the repo

Contributor guide

Tech stack
python
Domain
documentation
Issue type
documentation
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
PythonMuJoCorobotics basics
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50
Research direction
Examine the existing MuJoCo environments in Gymnasium (e.g., mujoco env.py) to understand the class structure. Review the linked PR #838 for a similar tutorial to follow. Check the documentation folder for existing tutorials and style. Join the Discord for additional guidance.