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It seems that the class `State` defines `info` as a dictionary, and env wrappers are getting away treating it as such:
```
@struct.dataclass
class State:
"""Environment state for training and …
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Hi,
I'm noticing an issue in how Brax handles contact in both the `pbd` and `legacy_spring` dynamics modes, where **both the auto-diff computed gradient and the numerically-estimated gradient** wil…
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After last commits joints do not connect bodies properly. It is easily visible in the Brax Basics Collab:
https://colab.research.google.com/github/google/brax/blob/main/notebooks/basics.ipynb
For ex…
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It occurred to me that this recent paper is an interesting one to implement inside brax
One of the cool things about brax is its differentiability, but as I understand it, attempt to leverage that …
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Hello,
You don't appear to have a read me. Please correct this. 🔨
cheers,
Brax
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I'm on MacOS Sonoma, and when training completes, I get:
```
File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/os.py", line 225, in makedirs
mkdir(name, mode)
OSError: …
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Ralph comments "I should have guessed from that bulge..." on a feminine character with a 12 inch sheathed penis.
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The reference `Ant` and the 2 `Humanoid`s implementations do not include them, but this issue:
https://github.com/google/brax/issues/254
Indicates that they might be implemented which is it?
If…
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Hi,
The current PPO implementation does not seem to account for time limits. While the `EpisodeWrapper` from brax is used, which tracks a truncation flag ([source](https://github.com/google/brax/bl…
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Lots of other frameworks seem to be switching to gymnasium. It'd be nice to also have a gymnasium wrapper in brax.