Brax v0.10.3 Release Notes

• Fix a bug in rendering capsules and cylinders with the wrong size.

Brax v0.10.2 Release Notes

• Fix bug in rendering cylinders and planes.
• Fix issue with link offsets in io.mjcf.load_model.

Brax Release Notes

• Fixes #460, #461, and an issue related to #353.
• Removes barkour v0 joystick policy in favor of the MJX tutorial training barkour vb.
• Fixes #466.

Brax v0.10.0 Release Notes

This minor release makes several changes to the brax API, such that MJX data structures are the core data structures used in brax. This allows for more seamless model loading from MuJoCo XMLs, and allows for running MJX physics more seamlessly in brax.

• Rebase brax System and State onto mjx.Model and mjx.Data.
• Separate validation logic from the model loading logic in brax.io.mjcf. This allows users to load an MJX model in brax, without hitting validation errors for other physics backends like positional and spring.
• Remove System.geoms, since brax.System inherits from mjx.Model and all geom information is available in mjx.Model. We also update the brax viewer to work with this new schema.
• Delete the brax contact library and use the contact library from MJX.
• Use the MuJoCo renderer instead of pytinyrenderer for brax.io.image.

Brax v0.9.4 Release Notes

• Fixes gradients for generalized by changing a jp.linalg.norm to safe_norm.
• Adds the MJX pipeline to Brax as well as an MjxEnv for RL training.

Brax v0.9.3 Release Notes

This patch release:

• Fixes compatibility issues with MuJoCo 3.0.0
• Fixes bugs with gym and dm envs.

Brax v0.9.2 Release Notes

This patch release:

• Adds domain randomization module
• Adds swimmer env
• Adds barkour env to experimental

Brax v0.9.1 Release Notes

This patch release includes:

• Add support for positional actuators.
• Add fluid viscosity + density via box model.
• Adds cylinder collider (but only for wafer-thin cylinders)
• Bring back dm_env and torch env wrappers.
• Bring back image rendering via pytinyrenderer.

Brax v0.9.0 Release Notes

This patch release moves:

• brax's older API to the brax.v1 module
• and the brax.v2 module to brax

Brax v0.1.2 Release Notes

This patch release includes:

• Add positional physics pipeline.
• Refactor spring physics pipeline.
• Add more brax envs.
• Add better documentation for brax v2 and update v2 notebooks.
• Fixes to kinematics.py.
• Add missing dependencies and files to MANIFEST.in
• Add convex-capsule, convex-sphere, and convex-plane collisions.
• Add rgba color to brax visualizer.