[mujoco] Add native MyoSuite env families and validation

README.md

@@ -20,6 +20,7 @@
 - [x] [Minigrid](https://envpool.readthedocs.io/en/latest/env/minigrid.html)
 - [x] [Highway](https://envpool.readthedocs.io/en/latest/env/highway.html)
 - [x] [MetaWorld](https://envpool.readthedocs.io/en/latest/env/metaworld.html)
+- [x] [MyoSuite](https://envpool.readthedocs.io/en/latest/env/myosuite.html)
 
 Here are EnvPool's several highlights:
 

docs/env/myosuite.rst

@@ -0,0 +1,84 @@
+MyoSuite
+========
+
+EnvPool provides native C++ implementations for the MyoSuite benchmark pinned
+to ``MyoHub/myosuite`` commit ``05cb84678373f91271004f99602ebbf01e57d1a1``
+(``v2.11.6``). The public EnvPool IDs follow the official upstream registry
+directly instead of introducing a parallel naming scheme.
+
+Supported Surface
+-----------------
+
+The native port covers the full generated MyoSuite metadata surface:
+
+* 45 direct MyoBase task IDs
+* 19 direct MyoChallenge task IDs
+* 190 direct MyoDM TrackEnv task IDs
+* 398 public task IDs after expanding the official fatigue, sarcopenia, and
+  reafferentation variants
+
+Representative public IDs include:
+
+.. code-block:: text
+
+    myoHandReorientID-v0
+    myoFatiHandReorientID-v0
+    myoLegRoughTerrainWalk-v0
+    myoChallengeBimanual-v0
+    myoSarcChallengeBimanual-v0
+    MyoHandAirplaneFly-v0
+
+The public registration keeps the official MyoSuite task IDs unchanged, so
+existing downstream experiment configs can move to EnvPool without renaming the
+tasks.
+
+Observation and Action Spaces
+-----------------------------
+
+MyoSuite is a heterogeneous benchmark, so observation and action shapes vary by
+task family:
+
+* MyoBase exposes hand, arm, torso, and locomotion tasks such as pose, reach,
+  reorient, key turn, object hold, pen twirl, walk, and terrain locomotion.
+* MyoChallenge exposes the official challenge tasks including reorient,
+  relocate, baoding, bimanual passing, run-track locomotion, soccer, chase-tag,
+  and table tennis.
+* MyoDM exposes object-conditioned ``TrackEnv`` tasks such as
+  ``MyoHandAirplaneFly-v0`` through the same native registration path.
+
+All tasks support the standard EnvPool batched Gymnasium and dm_env wrappers,
+and MuJoCo pixel wrappers are available through ``from_pixels=True``.
+
+Render
+------
+
+MyoSuite render support ships through the same native MuJoCo pixel path used by
+other EnvPool MuJoCo families. The public render validation now sweeps every
+registered MyoSuite task ID, including the fatigue, sarcopenia, and
+reafferentation variants, and checks the reset frame plus the first three
+stepped rollout frames against the pinned official renderer bitwise. The
+comparison image below keeps a representative slice from MyoBase reorient,
+walk, terrain, MyoChallenge, and MyoDM TrackEnv tasks so the doc stays
+readable. Each panel shows EnvPool on the left and the official MyoSuite
+renderer on the right.
+
+.. image:: ../_static/render_samples/myosuite_official_compare.png
+   :alt: EnvPool and official MyoSuite render compares for representative MyoSuite tasks
+   :width: 100%
+
+Validation
+----------
+
+The MyoSuite integration is validated in four layers:
+
+* generated metadata checks for the full upstream registry surface
+* deterministic rollout tests for the native implementations
+* 32-step oracle alignment against the official MyoSuite Python
+  implementation for the direct MyoBase, MyoChallenge, and MyoDM task surface
+* public ``render()`` validation that checks the reset frame and the first
+  three stepped frames bitwise against the official MyoSuite renderer for every
+  registered public task ID, while the doc image above shows a representative
+  slice of that full sweep
+* public registration tests that construct direct and variant IDs through
+  ``make_gymnasium`` and verify that fatigue, sarcopenia, and reafferentation
+  variants actually change rollout dynamics

docs/index.rst

@@ -96,6 +96,7 @@ stable version through `envpool.readthedocs.io/en/stable/
    env/minigrid
    env/gymnasium_robotics
    env/metaworld
+   env/myosuite
    env/mujoco_gym
    env/procgen
    env/toy_text