Will Thibault

In v0.10.0, MJX is now used in the backend. With MjxEnv being replaced by PipelineEnv, how can contacts and their corresponding forces be accessed? It seems like it can no...

Thanks for the followup @btaba! If we have the same data as before then we can use mj_contactForce, but only after changing the data from MJX to MuJoCo. Is there...

Hi @AlexS28, Thanks for following up on this. The function I posted above doesn't work as you mentioned in training steps because it isn't JAX friendly and results in JAX...

For those interested in picking out forces associated with specific contacts (such as the feet collision contacts mentioned [earlier](https://github.com/google/brax/issues/353#issuecomment-1966792623)), something like this works well: ``` def get_feet_forces(m, dx, forces): #...

I am training in MJX then evaluating the policy in python the same as the [this part of the Barkour colab](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb#scrollTo=HRRN-8L-BivZ&line=3&uniqifier=1). Similar to the Barkour colab the training and eval...

Thanks for the suggestion! I'll spend some time tracking down the error and share what I find.

@i1Cps, I still need to investigate this some more, but I can share what I have figured out so far. First, make sure that your simulation is stable. Simulations with...

Hi @erikfrey, I'm experiencing a similar issue with `quat_to_euler`, did this ever get resolved? Thanks!