Solve unresolved dependency on jaxlib

[flferretti]

In releases 0.1.dev117 and 0.1.dev118 there is a strict dependency on jaxlib==0.3.15 which is not currently available, making it impossible to install via PyPI

[diegoferigo]

This is one of the longstanding issues of jaxsim (#12). I did most of the development in late 2021 / early 2022 when jax.experimental.loops was available. Recent jax versions removed it. As long as I don't find enough time to switch to jax.lax.scan, we cannot update jax.

Here you can find the occurrences that have to be migrated (it's no so straightforward unfortunately): https://github.com/search?q=repo%3Aami-iit%2Fjaxsim+jax.experimental.loops&type=code.

Until the migration, we need to use jax and jaxlib 0.3.15. Why do you say that it is not available in PyPI? What Python version are you using?

See all the PyPI wheels at https://pypi.org/project/jaxlib/0.3.15/#files.

---

In general, always tag me in issues PRs, otherwise I don't receive any notification and I might not reply. I was passing here by chance now.

[flferretti]

Thanks for your answer, I will have a look at it. I'm using Python 3.10

[diegoferigo]

For those interested in the current status of the repository, the Docker image at the following link provides a working setting where JaxSim can run.

https://gist.github.com/diegoferigo/d8c75132a3193b402514d33f6e6240b1

At the time of writing, the corresponding conda environment is the one below.
Edit 2023/05/12: Updated the gist and environment file after numerous conda-forge updates in cuda support.

environment.yml

name: base
channels:
  - nvidia
  - conda-forge
  - defaults
dependencies:
  - _libgcc_mutex=0.1
  - _openmp_mutex=4.5
  - abseil-cpp=20211102.0
  - absl-py=1.4.0
  - aiohttp=3.7.4.post0
  - alsa-lib=1.2.8
  - anyio=3.6.2
  - argon2-cffi=21.3.0
  - argon2-cffi-bindings=21.2.0
  - asttokens=2.2.1
  - astunparse=1.6.3
  - async-timeout=3.0.1
  - attr=2.5.1
  - attrs=23.1.0
  - backcall=0.2.0
  - backports=1.0
  - backports.functools_lru_cache=1.6.4
  - beautifulsoup4=4.12.2
  - binutils=2.39
  - binutils_impl_linux-64=2.39
  - binutils_linux-64=2.39
  - bleach=6.0.0
  - blinker=1.6.2
  - boltons=23.0.0
  - brotli=1.0.9
  - brotli-bin=1.0.9
  - brotlipy=0.7.0
  - bzip2=1.0.8
  - c-ares=1.18.1
  - c-compiler=1.5.2
  - ca-certificates=2023.5.7
  - cached-property=1.5.2
  - cached_property=1.5.2
  - cachetools=5.3.0
  - cairo=1.16.0
  - certifi=2023.5.7
  - cffi=1.15.1
  - chardet=4.0.0
  - charset-normalizer=3.1.0
  - click=8.1.3
  - cloudpickle=2.2.1
  - colorama=0.4.6
  - coloredlogs=15.0.1
  - comm=0.1.3
  - commonmark=0.9.1
  - compilers=1.5.2
  - conda=23.3.1
  - conda-package-handling=2.0.2
  - conda-package-streaming=0.7.0
  - contourpy=1.0.7
  - cryptography=39.0.0
  - cuda-nvcc=12.0.140
  - cuda-version=11.2
  - cudatoolkit=11.2.2
  - cudnn=8.8.0.121
  - cxx-compiler=1.5.2
  - cycler=0.11.0
  - dataclasses=0.8
  - dbus=1.13.6
  - debugpy=1.6.7
  - decorator=5.1.1
  - defusedxml=0.7.1
  - dm-tree=0.1.7
  - entrypoints=0.4
  - etils=1.2.0
  - executing=1.2.0
  - expat=2.5.0
  - fftw=3.3.10
  - flax=0.5.2
  - flit-core=3.8.0
  - fmt=9.1.0
  - font-ttf-dejavu-sans-mono=2.37
  - font-ttf-inconsolata=3.000
  - font-ttf-source-code-pro=2.038
  - font-ttf-ubuntu=0.83
  - fontconfig=2.14.2
  - fonts-conda-ecosystem=1
  - fonts-conda-forge=1
  - fonttools=4.39.4
  - fortran-compiler=1.5.2
  - freetype=2.12.1
  - future=0.18.3
  - gast=0.4.0
  - gcc=11.3.0
  - gcc_impl_linux-64=11.3.0
  - gcc_linux-64=11.3.0
  - gettext=0.21.1
  - gfortran=11.3.0
  - gfortran_impl_linux-64=11.3.0
  - gfortran_linux-64=11.3.0
  - giflib=5.2.1
  - glib=2.76.2
  - glib-tools=2.76.2
  - google-auth=2.18.0
  - google-auth-oauthlib=0.4.6
  - google-pasta=0.2.0
  - graphite2=1.3.13
  - grpc-cpp=1.46.4
  - grpcio=1.46.4
  - gst-plugins-base=1.21.3
  - gstreamer=1.21.3
  - gstreamer-orc=0.4.33
  - gxx=11.3.0
  - gxx_impl_linux-64=11.3.0
  - gxx_linux-64=11.3.0
  - h5py=3.8.0
  - harfbuzz=6.0.0
  - hdf5=1.14.0
  - humanfriendly=10.0
  - icu=70.1
  - idna=3.4
  - importlib-metadata=6.6.0
  - importlib_metadata=6.6.0
  - importlib_resources=5.12.0
  - ipykernel=6.23.0
  - ipython=8.13.2
  - ipython_genutils=0.2.0
  - ipywidgets=8.0.6
  - jack=1.9.22
  - jax=0.3.15
  - jaxlib=0.3.15
  - jedi=0.18.2
  - jinja2=3.1.2
  - jpeg=9e
  - jsonpatch=1.32
  - jsonpointer=2.0
  - jsonschema=4.17.3
  - jupyter=1.0.0
  - jupyter_client=8.2.0
  - jupyter_console=6.6.3
  - jupyter_core=5.3.0
  - jupyter_events=0.6.3
  - jupyter_server=2.5.0
  - jupyter_server_terminals=0.4.4
  - jupyterlab_pygments=0.2.2
  - jupyterlab_widgets=3.0.7
  - keras=2.9.0
  - keras-preprocessing=1.1.2
  - kernel-headers_linux-64=2.6.32
  - keyutils=1.6.1
  - kiwisolver=1.4.4
  - krb5=1.20.1
  - lame=3.100
  - lcms2=2.15
  - ld_impl_linux-64=2.39
  - lerc=4.0.0
  - libabseil=20211102.0
  - libaec=1.0.6
  - libarchive=3.6.2
  - libblas=3.9.0
  - libbrotlicommon=1.0.9
  - libbrotlidec=1.0.9
  - libbrotlienc=1.0.9
  - libcap=2.66
  - libcblas=3.9.0
  - libclang=15.0.7
  - libclang13=15.0.7
  - libcups=2.3.3
  - libcurl=7.87.0
  - libdb=6.2.32
  - libdeflate=1.17
  - libedit=3.1.20191231
  - libev=4.33
  - libevent=2.1.10
  - libexpat=2.5.0
  - libffi=3.4.2
  - libflac=1.4.2
  - libgcc-devel_linux-64=11.3.0
  - libgcc-ng=12.2.0
  - libgcrypt=1.10.1
  - libgfortran-ng=12.2.0
  - libgfortran5=12.2.0
  - libglib=2.76.2
  - libgomp=12.2.0
  - libgpg-error=1.46
  - libiconv=1.17
  - liblapack=3.9.0
  - libllvm15=15.0.7
  - libmamba=1.2.0
  - libmambapy=1.2.0
  - libnghttp2=1.51.0
  - libnsl=2.0.0
  - libogg=1.3.4
  - libopenblas=0.3.21
  - libopus=1.3.1
  - libpng=1.6.39
  - libpq=15.1
  - libprotobuf=3.20.3
  - libsanitizer=11.3.0
  - libsndfile=1.2.0
  - libsodium=1.0.18
  - libsolv=0.7.23
  - libsqlite=3.40.0
  - libssh2=1.10.0
  - libstdcxx-devel_linux-64=11.3.0
  - libstdcxx-ng=12.2.0
  - libsystemd0=252
  - libtiff=4.5.0
  - libtool=2.4.7
  - libudev1=253
  - libuuid=2.38.1
  - libvorbis=1.3.7
  - libwebp-base=1.3.0
  - libxcb=1.13
  - libxkbcommon=1.5.0
  - libxml2=2.10.3
  - libzlib=1.2.13
  - lz4-c=1.9.4
  - lzo=2.10
  - mamba=1.2.0
  - markdown=3.4.3
  - markupsafe=2.1.2
  - mashumaro=3.7
  - matplotlib=3.7.1
  - matplotlib-base=3.7.1
  - matplotlib-inline=0.1.6
  - mistune=2.0.5
  - mpg123=1.31.3
  - msgpack-python=1.0.5
  - multidict=6.0.4
  - munkres=1.1.4
  - mysql-common=8.0.32
  - mysql-libs=8.0.32
  - nbclassic=1.0.0
  - nbclient=0.7.4
  - nbconvert=7.4.0
  - nbconvert-core=7.4.0
  - nbconvert-pandoc=7.4.0
  - nbformat=5.8.0
  - nccl=2.15.5.1
  - ncurses=6.3
  - nest-asyncio=1.5.6
  - notebook=6.5.4
  - notebook-shim=0.2.3
  - nspr=4.35
  - nss=3.89
  - numpy=1.22.4
  - oauthlib=3.2.2
  - openjpeg=2.5.0
  - openssl=1.1.1t
  - opt_einsum=3.3.0
  - optax=0.1.5
  - packaging=23.1
  - pandoc=2.19.2
  - pandocfilters=1.5.0
  - parso=0.8.3
  - pcre2=10.40
  - pexpect=4.8.0
  - pickleshare=0.7.5
  - pillow=9.4.0
  - pip=23.1
  - pixman=0.40.0
  - pkgutil-resolve-name=1.3.10
  - platformdirs=3.5.1
  - pluggy=1.0.0
  - ply=3.11
  - pooch=1.7.0
  - pptree=3.1
  - prometheus_client=0.16.0
  - prompt-toolkit=3.0.38
  - prompt_toolkit=3.0.38
  - protobuf=3.20.3
  - psutil=5.9.5
  - pthread-stubs=0.4
  - ptyprocess=0.7.0
  - pulseaudio=16.1
  - pure_eval=0.2.2
  - pyasn1=0.4.8
  - pyasn1-modules=0.2.7
  - pybind11-abi=4
  - pycosat=0.6.4
  - pycparser=2.21
  - pygments=2.15.1
  - pyjwt=2.7.0
  - pyopenssl=23.1.1
  - pyparsing=3.0.9
  - pyqt=5.15.7
  - pyqt5-sip=12.11.0
  - pyrsistent=0.19.3
  - pysocks=1.7.1
  - python=3.10.8
  - python-dateutil=2.8.2
  - python-fastjsonschema=2.16.3
  - python-flatbuffers=1.12
  - python-json-logger=2.0.7
  - python_abi=3.10
  - pyu2f=0.1.5
  - pyyaml=6.0
  - pyzmq=25.0.2
  - qt-main=5.15.6
  - qtconsole=5.4.3
  - qtconsole-base=5.4.3
  - qtpy=2.3.1
  - re2=2022.06.01
  - readline=8.2
  - reproc=14.2.4
  - reproc-cpp=14.2.4
  - requests=2.28.2
  - requests-oauthlib=1.3.1
  - rfc3339-validator=0.1.4
  - rfc3986-validator=0.1.1
  - rich=11.1.0
  - rsa=4.9
  - ruamel.yaml=0.17.21
  - ruamel.yaml.clib=0.2.7
  - scipy=1.10.1
  - send2trash=1.8.2
  - setuptools=67.6.1
  - sip=6.7.9
  - six=1.16.0
  - snappy=1.1.10
  - sniffio=1.3.0
  - soupsieve=2.3.2.post1
  - sqlite=3.40.0
  - stack_data=0.6.2
  - sysroot_linux-64=2.12
  - tensorboard=2.9.0
  - tensorboard-data-server=0.6.1
  - tensorboard-plugin-wit=1.8.1
  - tensorflow-base=2.9.1
  - tensorflow-probability=0.17.0
  - termcolor=2.3.0
  - terminado=0.17.1
  - tinycss2=1.2.1
  - tk=8.6.12
  - toml=0.10.2
  - tomli=2.0.1
  - toolz=0.12.0
  - tornado=6.3
  - tqdm=4.65.0
  - traitlets=5.9.0
  - typing-extensions=4.5.0
  - typing_extensions=4.5.0
  - tzdata=2023c
  - unicodedata2=15.0.0
  - urllib3=1.26.15
  - wcwidth=0.2.6
  - webencodings=0.5.1
  - websocket-client=1.5.1
  - werkzeug=2.3.4
  - wheel=0.40.0
  - widgetsnbextension=4.0.7
  - wrapt=1.15.0
  - xcb-util=0.4.0
  - xcb-util-image=0.4.0
  - xcb-util-keysyms=0.4.0
  - xcb-util-renderutil=0.3.9
  - xcb-util-wm=0.4.1
  - xkeyboard-config=2.38
  - xorg-kbproto=1.0.7
  - xorg-libice=1.0.10
  - xorg-libsm=1.2.3
  - xorg-libx11=1.8.4
  - xorg-libxau=1.0.9
  - xorg-libxdmcp=1.1.3
  - xorg-libxext=1.3.4
  - xorg-libxrender=0.9.10
  - xorg-renderproto=0.11.1
  - xorg-xextproto=7.3.0
  - xorg-xproto=7.0.31
  - xz=5.2.6
  - yaml=0.2.5
  - yaml-cpp=0.7.0
  - yarl=1.9.1
  - zeromq=4.3.4
  - zipp=3.15.0
  - zlib=1.2.13
  - zstandard=0.19.0
  - zstd=1.5.2
  - pip:
      - chex==0.1.6
      - distrax==0.1.3
      - jax-dataclasses==1.3.0
      - jaxlie==1.2.10
      - meshcat==0.3.2
      - meshcat-viz==0.1.dev50
      - overrides==7.3.1
      - pyngrok==6.0.0
      - rod==0.1.dev83
      - u-msgpack-python==2.7.2
      - xmltodict==0.13.0

[flferretti]

This will be solved by #35