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Massively parallel rigidbody physics simulation on accelerator hardware.
Hi, I'm working on a project that uses differentiable dynamics. However, for the task halfcheetah, I'm having problems with the gradient explosion. I have created a [repo](https://github.com/siwei0729/brax_halfcheetah_gradient) to reproduce this...
Hi all, Is rendering without notebooks supported? I personally don't like using notebooks and am much more used to working with e.g. GLUT windows. It seems that wrapping brax environment...
### Context: I am running my implemention of the PGA-MAP-Elites ([see paper](https://hal.archives-ouvertes.fr/hal-03135723v2/file/PGA_MAP_Elites_GECCO.pdf)) in brax halfcheetah. I obtained good and consistent results with the old `v0.0.10` physics in `halfcheetah` (and in...
@benelot proposed in #68 that a colab showing off the MuJoCo converter would help more users discover that Brax has this capability. Benjamin, if you build such a colab, we...
Is it possible to have two body links (not two colliders of the same body) joined together at a fixed pivot? Current workaround is to use a joint specifying parent...
Easiest way to demonstrate it is to go to https://colab.research.google.com/github/google/brax/blob/main/notebooks/biggym/biggym_rl.ipynb and do these two changes: `env_name = 'jump__cheetah'` and `env_params = {}` This will throw an error: ``` --------------------------------------------------------------------------- TypeError...
While developing the swimmer env, I realized that the mass property of the floor body is really important, even though it is frozen and thus is acting like something with...
After last commits joints do not connect bodies properly. It is easily visible in the Brax Basics Collab: https://colab.research.google.com/github/google/brax/blob/main/notebooks/basics.ipynb For example, in the last part actuators do not raise the...
If you go to: https://colab.research.google.com/github/google/brax/blob/main/notebooks/composer/composer.ipynb and choose `humanoid_run` as the environment, the next cell throws the following error: ``` [/usr/local/lib/python3.7/dist-packages/brax/physics/system.py](https://localhost:8080/#) in default_angle(self, default_index) 68 defaults = self.config.defaults[default_index] 69 for ja...
Hi! I am trying to extend the [Ant](https://github.com/google/brax/blob/main/brax/envs/ant.py) basic brax locomotion environment by simply adding a Trap in front of the Ant. To do so, I took the _SYSTEM_CONFIG of...
