Add MyoSuite training configs and configurable max_steps - #336
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Port MyoSuite config files from PR #312 and fix them for current master: - Add 6 MyoSuite YAML configs (elbow, hand pose/reach/reorient, walk) - Fix env_name from 'myosuite_gym' to 'myo_gym' for compatibility - Make player max_steps configurable via player config Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
reset() now returns (obs, info) and step() returns 5-tuple (obs, reward, terminated, truncated, info) matching gymnasium API. This fixes MyoSuite environments which use the old gym API. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
OldGymWrapperto return gymnasium-compatible tuples:reset()→(obs, info),step()→ 5-tuple withterminated/truncatedplayer.max_stepsconfigurable via config (was hardcoded to108000 // 4)Tested
myoElbowPose1D6MRandom-v0for 1000 epochs — converged to reward ~720 (91% of theoretical max) by epoch 100Supersedes #312
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