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google / brax

Massively parallel rigidbody physics simulation on accelerator hardware.
Apache License 2.0
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Mujoco environment support #427

Closed reginald-mclean closed 4 months ago

reginald-mclean commented 7 months ago

Hi! I am the Project Manager of Meta-World and we are looking to add support for Brax (while we wait for Mujoco-MJX - there's some collisions and other things not fully supported yet). However, we use a weld equality constraint for a mocap on the end-effector. This allows us to use an action space of size 4, where 1-3 are the desired xyz coordinates of the mocap. I am wondering if you have any suggestions for methods to modify the environments to remove the mocap but still use a similar action space. Thanks!

btaba commented 7 months ago

Hi @reginald-mclean , what are the blockers on using MuJoCo-MJX out of curiosity?

What environment are you describing with this 4-dof action space? Can you share an XML?

btaba commented 4 months ago

Closing due to inactivity