Closed MasterXiong closed 2 months ago
Hi @MasterXiong , I loaded the model and visualized with
mjpython -m mujoco.mjx.viewer --mjcf=tmp.xml
and it looks like the fixture falls forever. I removed the free joint at the root.
Then I ran your code, but it seems like there are some bugs in your code (your env is producing incompatible shapes in the actions).
I ran this instead:
m = mujoco.MjModel.from_xml_path(path)
mx = mjx.put_model(m)
dx = mjx.make_data(mx)
for _ in range(3000):
dx = dx.replace(ctrl=np.random.uniform(low=-1, high=1, size=(mx.nu,)))
dx = jax.jit(mjx.step)(mx, dx)
and the results seem OK
Hi,
I encountered a similar issue as #467 when running simulation on a robot with random actions. I followed the suggestions mentioned in this thread but still observed nan in simulation. Below is the minimal code and xml file to reproduce the issue. Could you help have a check on what may be the issue here? Thanks a lot!
And the xml configuration is