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

[Kallinteris-Andreas]

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 Add tutorial Load custom quadruped robot environments using Gymnasium/MuJoCo/Ant-v5 framework #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

No response

Pitch

No response

Alternatives

No response

Additional context

No response

Checklist

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

[jonzamora]

@Kallinteris-Andreas Is anyone working on Create a Custom MuJoCo based environment class by subclassing MujocoEnv? If not, I am working on just the right thing for this currently.

tldr; I am creating a MuJoCo version of X-MAGICAL, which is originally created with a 2D simulator and shown below:

So far, my environment looks like this:

SweepToTop.mov

I'm integrating Gymnasium API support for the environment, and i'm doing this by subclassing MujocoEnv.

Let me know your thoughts, i'm happy to contribute this : )

[Kallinteris-Andreas]

@jonzamora feel free to submit a PR with your tutorial

(sorry for late reply, i though i had reply)

[ashwin-r11]

hi!, im interested on contribute by doing this (loading a bipedal / humanoid custom robot model), is there anything i need to know before i start doing this? im new contributor btw. any words or advice is deeply appreciated.

[Kallinteris-Andreas]

@ashwin-r11 you can use the quadruped tutorial as reference, the more details you can include about your choice of environment parameters the better, include as much of the thought/experimental process for selecting some of those parameters the better

when you create the PR please ping me

[ashwin-r11]

Ok done, once I do I'll ping you and raise a PR