Comments (1)
Hi @MasterXiong , I loaded the model and visualized with
mjpython -m mujoco.mjx.viewer --mjcf=tmp.xml
and it looks like the fixture falls forever. I removed the free joint at the root.
Then I ran your code, but it seems like there are some bugs in your code (your env is producing incompatible shapes in the actions).
I ran this instead:
m = mujoco.MjModel.from_xml_path(path)
mx = mjx.put_model(m)
dx = mjx.make_data(mx)
for _ in range(3000):
dx = dx.replace(ctrl=np.random.uniform(low=-1, high=1, size=(mx.nu,)))
dx = jax.jit(mjx.step)(mx, dx)
and the results seem OK
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