Internal change

PiperOrigin-RevId: 683315255
Change-Id: I7e46153ca4e925d5708de0682609f97fe926a49a

README.md

@@ -100,7 +100,7 @@ If you would like to reference Brax in a publication, please use:
   author = {C. Daniel Freeman and Erik Frey and Anton Raichuk and Sertan Girgin and Igor Mordatch and Olivier Bachem},
   title = {Brax - A Differentiable Physics Engine for Large Scale Rigid Body Simulation},
   url = {https://github.com/google/brax},
-  version = {0.10.5},
+  version = {0.11.0},
   year = {2021},
 }
 ```

brax/__init__.py

@@ -14,7 +14,7 @@
 
 """Import top-level classes and functions here for encapsulation/clarity."""
 
-__version__ = '0.10.5'
+__version__ = '0.11.0'
 
 from brax.base import Motion
 from brax.base import State

brax/envs/base.py

@@ -113,10 +113,14 @@ def __init__(
     self._debug = debug
 
   def pipeline_init(
-      self, q: jax.Array, qd: jax.Array, act: Optional[jax.Array] = None
+      self,
+      q: jax.Array,
+      qd: jax.Array,
+      act: Optional[jax.Array] = None,
+      ctrl: Optional[jax.Array] = None,
   ) -> base.State:
     """Initializes the pipeline state."""
-    return self._pipeline.init(self.sys, q, qd, act, self._debug)
+    return self._pipeline.init(self.sys, q, qd, act, ctrl, self._debug)
 
   def pipeline_step(self, pipeline_state: Any, action: jax.Array) -> base.State:
     """Takes a physics step using the physics pipeline."""

brax/generalized/pipeline.py

@@ -34,6 +34,7 @@ def init(
     q: jax.Array,
     qd: jax.Array,
     unused_act: Optional[jax.Array] = None,
+    unused_ctrl: Optional[jax.Array] = None,
     debug: bool = False,
 ) -> State:
   """Initializes physics state.

brax/io/json.py

@@ -16,7 +16,7 @@
 """Saves a system config and trajectory as json."""
 
 import json
-from typing import List, Text, Tuple
+from typing import Optional, List, Text, Tuple
 
 from brax.base import State, System
 from etils import epath
@@ -26,12 +26,8 @@
 import numpy as np
 
 
-# State attributes needed for the visualizer.
-_STATE_ATTR = ['x', 'contact']
-
 # Fields that get json encoded.
 _ENCODE_FIELDS = [
-    'contact',
     'opt',
     'timestep',
     'face',
@@ -84,30 +80,6 @@ def _to_dict(obj):
   return obj
 
 
-def _compress_contact(states: State) -> State:
-  """Reduces the number of contacts based on penetration > 0."""
-  if states.contact is None or states.contact.pos.shape[0] == 0:
-    return states
-
-  contact_mask = states.contact.dist < 0
-  n_contact = contact_mask.sum(axis=1).max()
-
-  def pad(arr, n):
-    r = jp.zeros(n)
-    if len(arr.shape) > 1:
-      r = jp.zeros((n, *arr.shape[1:]))
-    r = r.at[: arr.shape[0], ...].set(arr)
-    return r
-
-  def compress(contact, i):
-    return jax.tree.map(
-        lambda x: pad(x[contact_mask[i]], n_contact), contact.take(i)
-    )
-
-  c = [compress(states.contact, i) for i in range(states.x.pos.shape[0])]
-  return states.replace(contact=jax.tree.map(lambda *x: jp.stack(x), *c))
-
-
 def _get_mesh(mj: mujoco.MjModel, i: int) -> Tuple[np.ndarray, np.ndarray]:
   """Gets mesh from mj at index i."""
   last = (i + 1) >= mj.nmesh
@@ -179,12 +151,8 @@ def dumps(sys: System, states: List[State]) -> Text:
 
   d['geoms'] = link_geoms
 
-  # stack states for the viewer
-  states = jax.tree.map(lambda *x: jp.stack(x), *states)
-  states = _compress_contact(states)
-
-  states = _to_dict(states)
-  d['states'] = {k: states[k] for k in _STATE_ATTR}
+  # add states for the viewer, we only need 'x' (positions and orientations).
+  d['states'] = {'x': [_to_dict(s.x) for s in states]}
 
   return json.dumps(d)
 

brax/io/torch.py

@@ -64,7 +64,7 @@ def _torch_dict_to_jax(
 
 
 @functools.singledispatch
-def jax_to_torch(value: Any, device: Device = None) -> Any:
+def jax_to_torch(value: Any, device: Union[Device, None] = None) -> Any:
   """Convert JAX values to PyTorch Tensors.
 
   Args:
@@ -82,7 +82,7 @@ def jax_to_torch(value: Any, device: Device = None) -> Any:
 
 @jax_to_torch.register(jax.Array)
 def _jaxarray_to_tensor(
-    value: jax.Array, device: Device = None
+    value: jax.Array, device: Union[Device, None] = None
 ) -> torch.Tensor:
   """Converts a jax.Array into PyTorch Tensor."""
   dpack = jax_dlpack.to_dlpack(value.astype("float32"))
@@ -95,7 +95,7 @@ def _jaxarray_to_tensor(
 @jax_to_torch.register(abc.Mapping)
 def _jax_dict_to_torch(
     value: Dict[str, Union[jax.Array, Any]],
-    device: Device = None) -> Dict[str, Union[torch.Tensor, Any]]:
+    device: Union[Device, None] = None) -> Dict[str, Union[torch.Tensor, Any]]:
   """Converts a dict of jax.Arrays into a dict of PyTorch tensors."""
   return type(value)(
       **{k: jax_to_torch(v, device=device) for k, v in value.items()})  # type: ignore

brax/mjx/pipeline.py

@@ -25,7 +25,7 @@
 
 def _reformat_contact(sys: System, data: State) -> State:
   """Reformats the mjx.Contact into a brax.base.Contact."""
-  if data.contact is None or data.ncon == 0:
+  if data.contact is None:
     return data
 
   elasticity = jp.zeros(data.contact.pos.shape[0])
@@ -45,6 +45,7 @@ def init(
     q: jax.Array,
     qd: jax.Array,
     act: Optional[jax.Array] = None,
+    ctrl: Optional[jax.Array] = None,
     unused_debug: bool = False,
 ) -> State:
   """Initializes physics data.
@@ -54,6 +55,7 @@ def init(
     q: (q_size,) joint angle vector
     qd: (qd_size,) joint velocity vector
     act: actuator activations
+    ctrl: actuator controls
     unused_debug: ignored
 
   Returns:
@@ -64,6 +66,8 @@ def init(
   data = data.replace(qpos=q, qvel=qd)
   if act is not None:
     data = data.replace(act=act)
+  if ctrl is not None:
+    data = data.replace(ctrl=ctrl)
 
   data = mjx.forward(sys, data)
 
@@ -106,5 +110,6 @@ def step(
   offset = Transform.create(pos=offset)
   xd = offset.vmap().do(cvel)
 
-  data = _reformat_contact(sys, data)
+  if data.ncon > 0:
+    data = _reformat_contact(sys, data)
   return data.replace(q=q, qd=qd, x=x, xd=xd)

brax/mjx/pipeline_test.py

@@ -13,10 +13,12 @@
 # limitations under the License.
 
 # pylint:disable=g-multiple-import
+# pylint:disable=g-importing-member
 """Tests for spring physics pipeline."""
 
 from absl.testing import absltest
 from brax import test_utils
+from brax.base import Contact
 from brax.mjx import pipeline
 import jax
 from jax import numpy as jp
@@ -30,6 +32,9 @@ def test_pendulum(self):
     model = test_utils.load_fixture('double_pendulum.xml')
 
     state = pipeline.init(model, model.init_q, jp.zeros(model.qd_size()))
+
+    self.assertIsInstance(state.contact, Contact)
+
     step_fn = jax.jit(pipeline.step)
     for _ in range(20):
       state = step_fn(model, state, jp.zeros(model.act_size()))
@@ -43,6 +48,17 @@ def test_pendulum(self):
     np.testing.assert_almost_equal(data.qvel, state.qd, decimal=3)
     np.testing.assert_almost_equal(data.xpos[1:], state.x.pos, decimal=4)
 
+  def test_pipeline_init_with_ctrl(self):
+    model = test_utils.load_fixture('single_spherical_pendulum_position.xml')
+    ctrl = jp.array([0.3, 0.5, 0.4])
+    state = pipeline.init(
+        model,
+        model.init_q,
+        jp.zeros(model.qd_size()),
+        ctrl=ctrl,
+    )
+    np.testing.assert_array_almost_equal(state.ctrl, ctrl)
+
 
 if __name__ == '__main__':
   absltest.main()

brax/positional/pipeline.py

@@ -34,6 +34,7 @@ def init(
     q: jax.Array,
     qd: jax.Array,
     unused_act: Optional[jax.Array] = None,
+    unused_ctrl: Optional[jax.Array] = None,
     debug: bool = False,
 ) -> State:
   """Initializes physics state.

brax/spring/pipeline.py

@@ -35,6 +35,7 @@ def init(
     q: jax.Array,
     qd: jax.Array,
     unused_act: Optional[jax.Array] = None,
+    unused_ctrl: Optional[jax.Array] = None,
     debug: bool = False,
 ) -> State:
   """Initializes physics state.

brax/training/learner.py

@@ -46,8 +46,8 @@
 flags.DEFINE_bool('use_v2', True, 'Use Brax v2.')
 flags.DEFINE_enum(
     'backend',
-    'generalized',
-    ['spring', 'generalized', 'positional'],
+    'mjx',
+    ['mjx', 'spring', 'generalized', 'positional'],
     'The physics backend to use.',
 )
 flags.DEFINE_bool('legacy_spring', False, 'Brax v1 backend.')
@@ -121,7 +121,7 @@
                    'A reward shift to get rid of "stay alive" bonus.')
 
 # ARS hps.
-flags.DEFINE_integer('policy updates', None,
+flags.DEFINE_integer('policy_updates', None,
                      'Number of policy updates in APG.')
 
 

brax/v1/jumpy.py

@@ -40,9 +40,13 @@ def _in_jit() -> bool:
   """Returns true if currently inside a jax.jit call or jit is disabled."""
   if jax.config.jax_disable_jit:
     return True
-  return 'DynamicJaxprTrace' in str(
-      jax.core.thread_local_state.trace_state.trace_stack
-  )
+
+  if jax.__version_info__ <= (0, 4, 33):
+    return 'DynamicJaxprTrace' in str(
+        jax.core.thread_local_state.trace_state.trace_stack
+    )
+
+  return jax.core.unsafe_am_i_under_a_jit_DO_NOT_USE()
 
 
 def _which_np(*args):

brax/v1/tests/jumpy_test.py

@@ -26,7 +26,7 @@ class ForiLoopTest(absltest.TestCase):
 
   def testForiLoopTest(self):
     a = jp.fori_loop(2, 4, lambda i, x: i + x, jp.array(1.))
-    self.assertIsInstance(a, np.float_)
+    self.assertIsInstance(a, np.float64)
     self.assertEqual(a.shape, ())
     self.assertAlmostEqual(a, 1.0 + 2.0 + 3.0)
 

brax/v1/tests/physics_test.py

@@ -522,7 +522,8 @@ def test_pendulum_period(self, mass, radius, vel):
         vel=jp.array([[0., 0., 0.], [0., vel, 0.]]),
         ang=jp.array([[0., 0., 0.], [vel, 0., 0.]]))
     qp, _ = jax.jit(sys.step)(qp, jp.array([]))
-    self.assertAlmostEqual(qp.pos[1, 1], 0., 3)  # returned to the origin
+    # returned to the origin
+    self.assertAlmostEqual(qp.pos[1, 1], 0.0, delta=1e-3)
 
   offsets = [-15, 15, -45, 45, -75, 75]
   axes = [

brax/visualizer/js/system.js

@@ -217,30 +217,11 @@ function createScene(system) {
     scene.add(parent);
   });
 
-  if (system.states.contact) {
-    /* add contact point spheres  */
-    for (let i = 0; i < system.states.contact.pos[0].length; i++) {
-      const parent = new THREE.Group();
-      parent.name = 'contact' + i;
-      let child;
-
-      const mat = new THREE.MeshPhongMaterial({color: 0xff0000});
-      const sphere_geom = new THREE.SphereGeometry(minAxisSize / 20.0, 6, 6);
-      child = new THREE.Mesh(sphere_geom, mat);
-      child.baseMaterial = child.material;
-      child.castShadow = false;
-      child.position.set(0, 0, 0);
-
-      parent.add(child);
-      scene.add(parent);
-    }
-  }
-
   return scene;
 }
 
 function createTrajectory(system) {
-  const times = [...Array(system.states.x.pos.length).keys()].map(
+  const times = [...Array(system.states.x.length).keys()].map(
       x => x * system.opt.timestep);
   const tracks = [];
 
@@ -252,30 +233,17 @@ function createTrajectory(system) {
       return;
     }
     const group = name.replaceAll('/', '_');  // sanitize node name
-    const pos = system.states.x.pos.map(p => [p[i][0], p[i][1], p[i][2]]);
+    const pos = system.states.x.map(
+        x => [x.pos[i][0], x.pos[i][1], x.pos[i][2]]);
     const rot =
-        system.states.x.rot.map(r => [r[i][1], r[i][2], r[i][3], r[i][0]]);
+        system.states.x.map(
+            x => [x.rot[i][1], x.rot[i][2], x.rot[i][3], x.rot[i][0]]);
     tracks.push(new THREE.VectorKeyframeTrack(
         'scene/' + group + '.position', times, pos.flat()));
     tracks.push(new THREE.QuaternionKeyframeTrack(
         'scene/' + group + '.quaternion', times, rot.flat()));
   });
 
-  if (system.states.contact) {
-    /* add contact debug point trajectory */
-    for (let i = 0; i < system.states.contact.pos[0].length; i++) {
-      const group = 'contact' + i;
-      const pos = system.states.contact.pos.map(p => [p[i][0], p[i][1], p[i][2]]);
-      const visible = system.states.contact.dist.map(p => p[i] < -1e-6);
-      tracks.push(new THREE.VectorKeyframeTrack(
-          'scene/' + group + '.position', times, pos.flat(),
-          THREE.InterpolateDiscrete));
-      tracks.push(new THREE.BooleanKeyframeTrack(
-          'scene/' + group + '.visible', times, visible,
-          THREE.InterpolateDiscrete));
-    }
-  }
-
   return new THREE.AnimationClip('Action', -1, tracks);
 }