brax
brax copied to clipboard
google
Massively parallel rigidbody physics simulation on accelerator hardware.
More "real" simulations often involve complex collider geometry that must be modeled accurately in the simulator. Convex hull is probably sufficient. Would need to support not just MeshMesh, but also...
The current PyTorch training routine in https://colab.research.google.com/github/google/brax/blob/main/notebooks/training_torch.ipynb lacks an option for `action_repeat` to be set. From some testing of the Torch version, it seems this is mandatory to learn things...
## What is the problem Right now Brax provides a slightly different Gym vector API in the `info` field. Gym's info dict is returned per environment, like if I have...
Currently, the external assistive forces are applied at the center of mass, but for many shapes, it makes more sense to attach thrusters at the vertices/boundaries of the bodies instead....
Trying to digest the internals of brax's integrator, it does not seem like there are are any terms in the integrator accounting for the [nonlinear terms](https://en.wikipedia.org/wiki/Euler%27s_equations_(rigid_body_dynamics)) in Eulers rigid body...
Here's my humanoid character: https://pastebin.com/7Ym4aqy6 Now, borrowing from the existing environment code, if I use something like ``` joint_1d_angle, joint_1d_vel = self.sys.joints[0].angle_vel(qp) joint_2d_angle, joint_2d_vel = self.sys.joints[1].angle_vel(qp) joint_3d_angle, joint_3d_vel = self.sys.joints[2].angle_vel(qp)...
Is it possible to add custom aerodynamics to an object, e.g., to model wing-based objects like airplanes or helicopters?
Has anyone had any success with differentiability-leveraging learning algorithms (e.g. the built-in APG) for legged systems, like HalfCheetah or Ant? I see that there's an example piece of code for...
Not sure if I should be asking here or on one of Jax's other package pages, but is there an easy way of summing param values? Eg if I have...
Hi all, I was wondering if there was a method for doing the inverse of the Joint angle_vel method, i.e., go from DOF position and velocities back to a QP....
