Trying to integrate a new robot type.

[S-A-M-J]

Hi, I'm trying to integrate a new robot type into a playground with somewhat similar characteristics to the go1, but a new robot XML and updated sensor locations, etc, are needed. Therefore, I'm looking for any general tips on what might be the easiest way to sort of separate the go1 environment from the robot itself and insert my own. Would appreciate any feedback.

[btaba]

Hi @S-A-M-J , updating https://github.com/google-deepmind/mujoco_playground/blob/main/mujoco_playground/_src/locomotion/go1/go1_constants.py with values specific to your robot might take you a long way. Did you already try that?

[S-A-M-J]

Hi, thanks for the quick response. Yes changing the const file did most of the work. However, I struggled to load the environment and configs correctly, not using the predefined registry stuff. But I managed to get around it by cloning the go1 folder and loading it straight from there. Thanks again for the help.