Brax v0.1.1 Release Notes

This patch release includes:

• Contact debugger added to the visualizer.
• Refactor of how state is passed to the v2 visualizer.
• Small clean up to v2/generalized.
• Convex-convex collisions added to v2.
• URDF loader gets mass and revolute joint limits.

Brax v0.1.0 Release Notes

This minor release adds a preview of a major overhaul to Brax's API and functionality. This overhaul (found in the v2/ folder) will eventually become Brax's first stable (1.0) release.

The new features of Brax v2 include:

• Generalized physics backend.
• Continued support for the Spring physics backends. PBD will soon follow.
• Direct support for Mujoco XML format, and URDF by association.
• Fully traceable System object.
• Env API that better supports custom physics backends.
• Open sourced visualizer server.

Brax v0.0.16 Release Notes

This release adds a new module: brax.experimental.tracing that allows for domain randomization during training. This release also adds support for placing replay buffers on device using pjit which allows for more configurable parallelism across many devices. Finally this release includes a number of small bug fixes.

This will be the final release before we release a preview of a significant API change, so users may want to pin to this version if API stability is important.

Brax v0.0.14 Release Notes

This release includes a refactor of the training code to make it more modular and hackable, with each algorithm now as a separate submodule under brax.training.agents.

This release also updates references to the deprecated jax.tree* functions to their new home in jax.tree_util, fixes a few bugs in physics/collision code, and adds an initial implementation of box-box collisions.

Brax v0.0.14 Release Notes

This release includes a refactor of the training code to make it more modular and hackable, with each algorithm now as a separate submodule under brax.training.agents.

This release also updates references to the deprecated jax.tree* functions to their new home in jax.tree_util, fixes a few bugs in physics/collision code, and adds an initial implementation of box-box collisions.

Brax v0.0.13 Release Notes

This release fixes a few bugs in the collision handling in PBD, and adds support for specifying collider visibility, color, and contact participation.

Brax v0.0.12 Release Notes

This release fixes a javascript bug that is preventing the viewer from rendering.

Brax Version 0.0.11 Release Notes

This version introduces a significant overhaul to the physics algorithms. We now support position based dynamics for resolving joint and collision constraints. See this paper for details about PBD.

The most noticeable difference to prior versions of Brax is that joints are now modeled as infinitely stiff, whereas before they were stiff damped spring systems. This new physics is now default, and all environments use PBD-based joints and collisions by default.

If you would like to preserve the behavior used in previous versions of brax, you can either:

1. Version pin to 0.0.10 – the version right before this upgrade. While you will not get the latest and greatest improvements to Brax, you will have unambiguously consistent behavior.

2. Add dynamics_mode: "legacy_spring" to your brax configuration file. This causes brax to navigate the old codepath.

3. Supply legacy_spring=True, as a kwarg to env creation (without `s). This causes Brax to load the older config for all the environments currently defined in Brax (see the logic in the init functions of each env for details).

Thank you for using Brax, and feel free to open an Issue if you have any questions!

Please see https://github.com/google/brax/tags for details about this release.

Please see https://github.com/google/brax/tags for details about this release.