Sasha Abramowitz

Just a note because I don't think this will be merged in before I go on leave. To merge this in we will also have to change env wrappers to...

Linking a possible cause #628 (there is no masking of dead agents in value loss)

I was just about to ask about the root cause of this issue. This is the line: https://github.com/benelot/pybullet-gym/blob/ec9e87459dd76d92fe3e59ee4417e5a665504f62/pybulletgym/envs/mujoco/robots/locomotors/ant.py#L21 I'm reasonably familiar with pybullet, but not at all with mujoco so...

Ok a quick update `cfrc_ext` refers to the contact points, I would imagine that it is in there for ground contact points, but the (14, 6) shape doesn't really make...

Sure I'll definitely have a dig around for these contact points, can't commit to all the other missing values, but if I have some extra time I will look for...

> External forces (force x,y,z + torque x,y,z) applied to the CoM of each link (Ant has 14 links: ground+torso+12(3links for 4legs) for legs -> (3+3)*(14)=84 @seolhokim thanks, this is...

I'm pretty sure I've found what we're looking for although it doesn't look like it's going to work. According to the docs we would need a torque sensor on the...

Hey sorry for getting back to you so late, I don't think I got a notification. Good catch, I think the cleanest fix would probably be: ```for batch_idx, (inputs, targets)...

Unfortunately I don't have a minimal example, I've only encountered it in a large code base. Any idea what the error could be pointing me to? The traceback just ends...

Something that could be good to add to the sharp bits section is to have a part on how `total_timesteps` and `num_updates` interact with each other and why we have...