Custom MuJoCo environment

[CharlesAverill]

I'm trying to create a custom 3D environment using humanoid models. It doesn't seem like that's possible with mujoco being the only available 3D environments for gym, and there's no documentation on customizing them. Is there any way to customize the mujoco environments?

[christopherhesse]

I think you can customize mujoco enviroments, but you may also want to check out pybullet: https://github.com/openai/gym/blob/master/docs/environments.md#pybullet-robotics-environments

[RaghuSpaceRajan]

You can customise Mujoco environments by modifying/creating XMLs based on the Mujoco website here. There are further related pages there.

If you want to do it programmatically, then you would need to look up the internals of mujoco-py and how they correspond to the Mujoco internal data structures.

[ChrisSim01]

https://ashbabu.github.io/blog/2019/Custom-MuJoCo-Environment/ might help?

[denisgriaznov]

I encountered the same problem, and not finding a direct tutorial, I made a simple example of creating a Gymnasium environment from my own MuJoCo model. 

https://github.com/denisgriaznov/CustomMuJoCoEnviromentForRL 

If you have any questions, write!

[ChrisSim01]

Many thanks Denis

On Fri, 19 Apr 2024 at 07:42, Denis Griaznov @.***> wrote:

I encountered the same problem, and not finding a direct tutorial, I made a simple example of creating a Gymnasium environment from my own MuJoCo model.

https://github.com/denisgriaznov/CustomMuJoCoEnviromentForRL

If you have any questions, write!

— Reply to this email directly, view it on GitHub https://github.com/openai/gym/issues/1870#issuecomment-2065862352, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH4Z5XWFRQKOH5OMLJ5QMP3Y6C4GBAVCNFSM4MEZMLIKU5DIOJSWCZC7NNSXTN2JONZXKZKDN5WW2ZLOOQ5TEMBWGU4DMMRTGUZA . You are receiving this because you commented.Message ID: @.***>