Robotis OP3 trained using PPO on gymnasium/mujoco-v5 framework

env = gym.make('Humanoid-v5', xml_file='~/mujoco_menagerie/robotis_op3/scene.xml', healthy_z_range=(0.275, 0.5), include_cinert_in_observation=False, include_cvel_in_observation=False, include_qfrc_actuator_in_observation=False, include_cfrc_ext_in_observation=False, ctrl_cost_weight=0, contact_cost_weight=0, render_mode=None)

Trained using SB3/PPO https://github.com/Kallinteris-Andreas/gymnasium-mujuco-v5-envs-validation