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{
lib,
buildPythonPackage,
fetchFromGitHub,
stdenv,
# build-system
setuptools,
# dependencies
absl-py,
dm-env,
etils,
flask,
flask-cors,
flax,
grpcio,
gym,
jax,
jaxlib,
jaxopt,
jinja2,
ml-collections,
mujoco,
mujoco-mjx,
numpy,
optax,
orbax-checkpoint,
pillow,
pytinyrenderer,
scipy,
tensorboardx,
trimesh,
# tests
pytestCheckHook,
pytest-xdist,
transforms3d,
}:
buildPythonPackage rec {
pname = "brax";
version = "0.12.1";
pyproject = true;
src = fetchFromGitHub {
owner = "google";
repo = "brax";
tag = "v${version}";
hash = "sha256-whkkqTTy5CY6soyS5D7hWtBZuVHc6si1ArqwLgzHDkw=";
};
build-system = [
setuptools
];
dependencies = [
absl-py
# TODO: remove dm_env after dropping legacy v1 code
dm-env
etils
flask
flask-cors
flax
# TODO: remove grpcio and gym after dropping legacy v1 code
grpcio
gym
jax
jaxlib
jaxopt
jinja2
ml-collections
mujoco
mujoco-mjx
numpy
optax
orbax-checkpoint
pillow
# TODO: remove pytinyrenderer after dropping legacy v1 code
pytinyrenderer
scipy
tensorboardx
trimesh
];
nativeCheckInputs = [
pytestCheckHook
pytest-xdist
transforms3d
];
disabledTests = lib.optionals stdenv.hostPlatform.isAarch64 [
# Flaky:
# AssertionError: Array(-0.00135638, dtype=float32) != 0.0 within 0.001 delta (Array(0.00135638, dtype=float32) difference)
"test_pendulum_period2"
];
disabledTestPaths = [
# ValueError: matmul: Input operand 1 has a mismatch in its core dimension
"brax/generalized/constraint_test.py"
];
pythonImportsCheck = [
"brax"
];
meta = {
description = "Massively parallel rigidbody physics simulation on accelerator hardware";
homepage = "https://github.com/google/brax";
license = lib.licenses.asl20;
maintainers = with lib.maintainers; [ nim65s ];
};
}
|
