From b21017a7e87d7987d392a905079babacf592dc0e Mon Sep 17 00:00:00 2001 From: Brax Team Date: Thu, 5 Dec 2024 13:43:59 -0800 Subject: [PATCH] Internal change PiperOrigin-RevId: 703237189 Change-Id: I8f6d33e6b374333f0a9900fada70b6fc3c956b15 --- README.md | 2 +- brax/__init__.py | 2 +- brax/io/json.py | 5 ++--- docs/release-notes/next-release.md | 11 ----------- docs/release-notes/v0.12.0.md | 12 ++++++++++++ setup.py | 2 +- 6 files changed, 17 insertions(+), 17 deletions(-) create mode 100644 docs/release-notes/v0.12.0.md diff --git a/README.md b/README.md index e06b1ba9..aa698615 100644 --- a/README.md +++ b/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 = {http://github.com/google/brax}, - version = {0.11.0}, + version = {0.12.0}, year = {2021}, } ``` diff --git a/brax/__init__.py b/brax/__init__.py index 0138714a..4f73c95d 100644 --- a/brax/__init__.py +++ b/brax/__init__.py @@ -14,7 +14,7 @@ """Import top-level classes and functions here for encapsulation/clarity.""" -__version__ = '0.11.0' +__version__ = '0.12.0' from brax.base import Motion from brax.base import State diff --git a/brax/io/json.py b/brax/io/json.py index 6247e362..7e736d51 100644 --- a/brax/io/json.py +++ b/brax/io/json.py @@ -16,12 +16,11 @@ """Saves a system config and trajectory as json.""" import json -from typing import List, Optional, Text, Tuple +from typing import List, Text, Tuple from brax.base import State, System from etils import epath import jax -import jax.numpy as jp import mujoco import numpy as np @@ -128,7 +127,7 @@ def dumps(sys: System, states: List[State]) -> Text: for id_ in range(sys.ngeom): link_idx = sys.geom_bodyid[id_] - 1 - rgba = sys.mj_model.geom_rgba[id_] + rgba = np.array(sys.mj_model.geom_rgba[id_]) if (rgba == [0.5, 0.5, 0.5, 1.0]).all(): # convert the default mjcf color to brax default color rgba = np.array([0.4, 0.33, 0.26, 1.0]) diff --git a/docs/release-notes/next-release.md b/docs/release-notes/next-release.md index 150e9994..ca4ecb57 100644 --- a/docs/release-notes/next-release.md +++ b/docs/release-notes/next-release.md @@ -1,12 +1 @@ # Brax Release Notes - -* Add boolean `wrap_env` to all brax `train` functions, which optionally wraps the env for training, or uses the env as is. -* Fix bug in PPO train to return loaded checkpoint when `num_timesteps` is 0. -* Add `layer_norm` to `make_q_network` and set `layer_norm` to `True` in `make_sace_networks` Q Network. -* Change PPO train function to return both value and policy network params, rather than just policy params. -* Merge https://github.com/google/brax/pull/561, adds grad norm clipping to PPO. -* Merge https://github.com/google/brax/issues/477, changes pusher vel damping. -* Merge https://github.com/google/brax/pull/558, adds `mocap_pos` and `mocap_quat` to render function. -* Merge https://github.com/google/brax/pull/559, allows for dictionary observations environment `State`. -* Merge https://github.com/google/brax/pull/562, which supports asymmetric actor-critic for PPO. -* Merge https://github.com/google/brax/pull/560, allows PPO from vision. diff --git a/docs/release-notes/v0.12.0.md b/docs/release-notes/v0.12.0.md new file mode 100644 index 00000000..fcafbe6a --- /dev/null +++ b/docs/release-notes/v0.12.0.md @@ -0,0 +1,12 @@ +# Brax v0.12.0 Release Notes + +* Add boolean `wrap_env` to all brax `train` functions, which optionally wraps the env for training, or uses the env as is. +* Fix bug in PPO train to return loaded checkpoint when `num_timesteps` is 0. +* Add `layer_norm` to `make_q_network` and set `layer_norm` to `True` in `make_sace_networks` Q Network. +* Change PPO train function to return both value and policy network params, rather than just policy params. +* Merge https://github.com/google/brax/pull/561, adds grad norm clipping to PPO. +* Merge https://github.com/google/brax/issues/477, changes pusher vel damping. +* Merge https://github.com/google/brax/pull/558, adds `mocap_pos` and `mocap_quat` to render function. +* Merge https://github.com/google/brax/pull/559, allows for dictionary observations environment `State`. +* Merge https://github.com/google/brax/pull/562, which supports asymmetric actor-critic for PPO. +* Merge https://github.com/google/brax/pull/560, allows PPO from vision. diff --git a/setup.py b/setup.py index 76b7dd54..a1ddb4fc 100644 --- a/setup.py +++ b/setup.py @@ -24,7 +24,7 @@ setup( name="brax", - version="0.11.0", + version="0.12.0", description="A differentiable physics engine written in JAX.", author="Brax Authors", author_email="no-reply@google.com",