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google / brax

Massively parallel rigidbody physics simulation on accelerator hardware.
Apache License 2.0
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Apply external force to the agent #435

Closed aliang8 closed 6 months ago

aliang8 commented 6 months ago

Hi,

I was wondering if anyone has pointers on how to apply an external force to an agent, specifically the HalfCheetah environment.

I read in the MuJoCo documents there is a xfrc_applied field that implements this. Is there a similar feature for BRAX environments? Thanks!

aliang8 commented 6 months ago

Bumping this!

btaba commented 6 months ago

Hey @aliang8 , there isn't a similar feature in brax right now, but have you checked out MJX? We aim to have feature parity with MuJoCo using that physics engine (which is now also ported into brax via https://github.com/google/brax/commit/f0cf1092201f66724bf4d38f3b222beaa5e208f3)