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It seems that the inertia matrices of Humanoid environment are set arbitrarily (using identity matrices), and motor torques may be too large. I have strange behaviors in training like oscillating and …
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Is Brax suitable for sim2real RL training, and are there any examples?
Also, can we use complex terrain in simulation? There is heightmap in geometries, however, only collision between heightmap an…
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Dear Brax authors,
while scrolling through some of the source i stumpled upon
```python
class Transform(_Base):
def inv(self):
"""Invert the transform."""
return Transform(pos=-1.0…
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your work is really great.
I'm using pybullet to simulate some object stacking, there be about 1000 objects.
I need to constantly monitor the position of each object,
but getBasePositionAndOrien…
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More "real" simulations often involve complex collider geometry that must be modeled accurately in the simulator.
Convex hull is probably sufficient. Would need to support not just MeshMesh, but a…
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## Motivation
Vectorized environments are environments that perform simulations using batches. This can be useful to benefit from parallel computation on GPUs. These environments have their own bat…
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I tried all the other examples of Brax on the Mac m1 and they work great. However on the Gym examples I don't get very far. Any ideas? here is the simple example that fails.
#@title Import Brax a…
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## Describe the bug
Hello, I'm performing experiments that use a relatively small number of parallel environments (8-16). Using the PongNoFrameskip-v4 environment with no wrappers, it seems that To…
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Great libary, thank you for your work!
I want to add the HTML output for Brax and stumbled across a problem: For Brax's built in HTML output, it needs a list of `env_state.qp`. This can be collecte…
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Hi,
I have a config file defining a humanoid ragdoll. I have removed all of the collisions inside this config. I expected the bodies to be able to intersect each other, instead, here's a video of t…