HTML visualizer follow target and freeze angle features not working in Brax v2

[btaba]

Hey @imoneoi , would you have a simple example that we can use to reproduce the issue you're seeing, along with a description of the expected behavior and failure mode?

[imoneoi]

Of course, this is a humanoid video trained with Brax v2 and exported via brax.io.html.save. As you can see in this HTML, the camera cannot follow the humanoid and freezes the angle.

In videos exported with Brax v1, the camera can follow the humanoid and use a fixed angle.

1000.zip 1000_v1.zip

[arxaqapi]

Noticed the same problem for the follow target option with Brax v2. Followed the example shown here.

My pseudo-code looks like this:

env, pipeline_states = train(...)

html_string = html.render(
    env.sys.replace(dt=env.dt),
    pipeline_states,
    height="100vh", colab=False
)

with open(f"visualization.html", "w") as f:
    f.writelines(html_string)

[erikfrey]

Hello! This is fixed in ac2b94bad71658a2cc194518c6585c11117663fe and will be generally available in the next release.