Replies: 3 comments 2 replies
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Hi @amdee thanks for using brax! If the runtime error is because you added a cylindrical shape to brax on your branch, then you would either have to [1] turn off collisions for that shape using Line 446 in 1d5fbd7 @erikfrey for the a1 example in the README |
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@btaba Thanks for replying. I ended up approximating the cylindrical shape with a Capsule but at one point I ended wanted to implement the collision pair for the cylindrical shape. I will revisit the ideal, thanks for the info. |
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Hello @amdee ! Here's a few steps to replicate the A1 example:
Here's a gist of those three changes: https://gist.github.com/erikfrey/21517b337772ad011b2d8593a7e8409d There's more you can do to optimize the env for training perf, but hopefully that gets you started. |
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Hi, I am trying to recreate/create a custom environment using a MuJoCo model as shown in the v2 READMe.md especially unitree a1 robot. My approach was as follows;
Thanks for your help! I am super excited about Brax (especially v2). Once I can recreate the custom environments, I would like to contribute to the documentation.
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