brax v0.9.0

[regro-cf-autotick-bot]

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[conda-forge-webservices]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

Errors:

2023-04-26T10:15:12.5534924Z =========================== short test summary info ============================
2023-04-26T10:15:12.5535619Z FAILED io/mjcf_test.py::MjcfTest::test_joint_ref_check - ValueError: XML Error: global coordinates no longer supported. To convert existing models, load and save them in MuJoCo 2.3.3 or older
2023-04-26T10:15:12.5536178Z Element 'compiler', line 2
2023-04-26T10:15:12.5536862Z FAILED io/mjcf_test.py::MjcfTest::test_load_urdf - FileNotFoundError: [Errno 2] No such file or directory: '$PREFIX/lib/python3.10/site-packages/brax/envs/assets/laikago/laikago_toes_zup.urdf'
2023-04-26T10:15:12.5538171Z ========== 2 failed, 1332 passed, 161 warnings in 2772.67s (0:46:12) ===========

The first error is due to the use of mujoco 2.3.5, but it has been already fixed in brax upstream, so probably the new version will not have it, and for now we can just skip it. The other error is instead due to .urdf files not being installed, and is fixed by the patch that we can re-enable.

[conda-forge-webservices]

Hi! This is the friendly automated conda-forge-linting service.

I was trying to look for recipes to lint for you, but it appears we have a merge conflict.
Please try to merge or rebase with the base branch to resolve this conflict.

Please ping the 'conda-forge/core' team (using the @ notation in a comment) if you believe this is a bug.

[conda-forge-webservices]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

Errors:

2023-04-26T10:15:12.5534924Z =========================== short test summary info ============================
2023-04-26T10:15:12.5535619Z FAILED io/mjcf_test.py::MjcfTest::test_joint_ref_check - ValueError: XML Error: global coordinates no longer supported. To convert existing models, load and save them in MuJoCo 2.3.3 or older
2023-04-26T10:15:12.5536178Z Element 'compiler', line 2
2023-04-26T10:15:12.5536862Z FAILED io/mjcf_test.py::MjcfTest::test_load_urdf - FileNotFoundError: [Errno 2] No such file or directory: '$PREFIX/lib/python3.10/site-packages/brax/envs/assets/laikago/laikago_toes_zup.urdf'
2023-04-26T10:15:12.5538171Z ========== 2 failed, 1332 passed, 161 warnings in 2772.67s (0:46:12) ===========

The first error is due to the use of mujoco 2.3.5, but it has been already fixed in brax upstream, so probably the new version will not have it, and for now we can just skip it. The other error is instead due to .urdf files not being installed, and is fixed by the patch that we can re-enable.

See also google/brax#346 .

[traversaro]

Now the failure is:

chex 0.1.83 has requirement jax>=0.4.16, but you have jax 0.4.13.

[traversaro]

@conda-forge-admin please rerender

[traversaro]

The problem is (beside chex that has inconsistent constraints between pypi and conda-forge packages) is that the version of flax in conda-forge is quite old, see the error:

traversaro@IITICUBLAP257:~$ mamba create -n testjaxflax flax "jax>=0.4.16"

                  __    __    __    __
                 /  \  /  \  /  \  /  \
                /    \/    \/    \/    \
███████████████/  /██/  /██/  /██/  /████████████████████████
              /  / \   / \   / \   / \  \____
             /  /   \_/   \_/   \_/   \    o \__,
            / _/                       \_____/  `
            |/
        ███╗   ███╗ █████╗ ███╗   ███╗██████╗  █████╗
        ████╗ ████║██╔══██╗████╗ ████║██╔══██╗██╔══██╗
        ██╔████╔██║███████║██╔████╔██║██████╔╝███████║
        ██║╚██╔╝██║██╔══██║██║╚██╔╝██║██╔══██╗██╔══██║
        ██║ ╚═╝ ██║██║  ██║██║ ╚═╝ ██║██████╔╝██║  ██║
        ╚═╝     ╚═╝╚═╝  ╚═╝╚═╝     ╚═╝╚═════╝ ╚═╝  ╚═╝

        mamba (1.4.2) supported by @QuantStack

        GitHub:  https://github.com/mamba-org/mamba
        Twitter: https://twitter.com/QuantStack

█████████████████████████████████████████████████████████████

WARNING: A conda environment already exists at '/home/traversaro/miniforge3/envs/testjaxflax'
Remove existing environment (y/[n])? y


Looking for: ['flax', "jax[version='>=0.4.16']"]

warning  libmamba Cache file "/home/traversaro/miniforge3/pkgs/cache/497deca9.json" was modified by another program
warning  libmamba Cache file "/home/traversaro/miniforge3/pkgs/cache/09cdf8bf.json" was modified by another program
conda-forge/noarch                                  14.2MB @   1.7MB/s  9.1s
conda-forge/linux-64                                34.4MB @   2.4MB/s 15.7s
Could not solve for environment specs
The following packages are incompatible
├─ flax   is installable with the potential options
│  ├─ flax [0.3.2|0.3.3|...|0.5.0] would require
│  │  └─ jax >=0.2.6,<0.4.14 , which can be installed;
│  └─ flax [0.5.1|0.5.2|0.6.1] would require
│     └─ jax >=0.3.2,<0.4.14 , which can be installed;
└─ jax >=0.4.16  is uninstallable because it conflicts with any installable versions previously reported.

[traversaro]

is that the version of flax in conda-forge is quite old, see the error:

See conda-forge/flax-feedstock#29 (comment) . In a nutshell, this is currently blocked by the missing tensorstore recipe, that however it should be added in conda-forge/staged-recipes#17848 .

[traversaro]

@conda-forge-admin please re-render.

[traversaro]

Test fails with:

FAILED actuator_test.py::ActuatorTest::test_motor0 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED actuator_test.py::ActuatorTest::test_motor1 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED actuator_test.py::ActuatorTest::test_motor2 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED actuator_test.py::ActuatorTest::test_position - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_load_humanoid - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_load_mesh_and_box - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_load_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_load_urdf - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_rgba - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED io/mjcf_test.py::MjcfTest::test_world_body_transform - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/joints_test.py::JointsTest::test_sphericalize_humanoid - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/perf_test.py::PerfTest::test_pipeline_ant - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/pipeline_test.py::PipelineTest::test_3d_prismaversal_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/pipeline_test.py::PipelineTest::test_3d_sliding_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/pipeline_test.py::PipelineTest::test_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/pipeline_test.py::PipelineTest::test_sliding_capsule - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED positional/pipeline_test.py::PipelineTest::test_spherical_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/joints_test.py::JointTest::test_pendulum_period0 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/joints_test.py::JointTest::test_pendulum_period1 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/joints_test.py::JointTest::test_pendulum_period2 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/perf_test.py::PerfTest::test_pipeline_ant - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_2d_prismaversal_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_2d_sliding_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_3d_prismaversal_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_3d_sliding_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_prismatic_joint - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_sliding_capsule - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_spherical_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED spring/pipeline_test.py::PipelineTest::test_universal_pendulum - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
FAILED training/agents/ppo/train_test.py::PPOTest::testTrainV2 - AttributeError: 'mujoco._structs.MjOption' object has no attribute 'collision'
== 100 failed, 1233 passed, 1 deselected, 162 warnings in 1436.69s (0:23:56) ===

[traversaro]

Ok, probably at this point we can just look in packaging brax v0.9.3, and try to package v0.9.0 only if necessary.