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Add native MyoSuite EnvPool integration#399

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Trinkle23897 wants to merge 47 commits into
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jiayi/myosuite-native-envpool
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Add native MyoSuite EnvPool integration#399
Trinkle23897 wants to merge 47 commits into
mainfrom
jiayi/myosuite-native-envpool

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Summary

  • adds native C++ EnvPool coverage for the pinned MyoSuite v2.11.6 surface using generated upstream metadata and third_party/myosuite assets
  • wires MyoBase, MyoChallenge, and MyoDM TrackEnv registration, docs, oracle utilities, render comparison, and release packaging
  • carries forward the previous MyoSuite integration branch and fixes Windows render/oracle initialization so Mesa DLLs load before MuJoCo/native imports

Local validation

  • make ruff
  • make mypy
  • make cpplint
  • bazel test --test_output=errors //envpool/mujoco:myosuite_metadata_test //envpool/mujoco:myosuite_asset_smoke_test //envpool/mujoco:myosuite_myobase_test //envpool/mujoco:myosuite_myodm_test //envpool/mujoco:myosuite_myochallenge_test
  • bazel test --test_output=errors //envpool/mujoco:myosuite_render_doc_test
  • bazel test --test_output=errors --test_sharding_strategy=disabled --test_arg=--myosuite_render_shard_index=0 --test_arg=--myosuite_render_shard_count=50 //envpool/mujoco:myosuite_render_surface_test
  • bazel test --test_output=errors --test_sharding_strategy=disabled --test_arg=--myosuite_render_shard_index=25 --test_arg=--myosuite_render_shard_count=50 //envpool/mujoco:myosuite_render_surface_test
  • bazel test --test_output=errors --test_sharding_strategy=disabled --test_arg=--myosuite_render_shard_index=49 --test_arg=--myosuite_render_shard_count=50 //envpool/mujoco:myosuite_render_surface_test

Draft status

This is draft until the remaining oracle-alignment bar is resolved: current tests still include scoped alignment tolerances and MyoBase/MyoDM representative step-level oracle coverage instead of full bitwise coverage over every direct ID.

@Trinkle23897 Trinkle23897 deleted the jiayi/myosuite-native-envpool branch May 7, 2026 16:09
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