diff --git a/docs/source/examples/isaaclab/jax_ant_ddpg.py b/docs/source/examples/isaaclab/jax_ant_ddpg.py index e5ff876c..381839bb 100644 --- a/docs/source/examples/isaaclab/jax_ant_ddpg.py +++ b/docs/source/examples/isaaclab/jax_ant_ddpg.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -57,9 +40,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/isaaclab/jax_ant_ppo.py b/docs/source/examples/isaaclab/jax_ant_ppo.py index d7fae830..1f3c62d1 100644 --- a/docs/source/examples/isaaclab/jax_ant_ppo.py +++ b/docs/source/examples/isaaclab/jax_ant_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/isaaclab/jax_ant_sac.py b/docs/source/examples/isaaclab/jax_ant_sac.py index efc6b9a5..ca4889d7 100644 --- a/docs/source/examples/isaaclab/jax_ant_sac.py +++ b/docs/source/examples/isaaclab/jax_ant_sac.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -58,9 +41,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/isaaclab/jax_ant_td3.py b/docs/source/examples/isaaclab/jax_ant_td3.py index 633e5026..f88825a1 100644 --- a/docs/source/examples/isaaclab/jax_ant_td3.py +++ b/docs/source/examples/isaaclab/jax_ant_td3.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -57,9 +40,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/isaaclab/jax_cartpole_ppo.py b/docs/source/examples/isaaclab/jax_cartpole_ppo.py index bcee2099..04f3a49b 100644 --- a/docs/source/examples/isaaclab/jax_cartpole_ppo.py +++ b/docs/source/examples/isaaclab/jax_cartpole_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) @@ -59,9 +42,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) diff --git a/docs/source/examples/isaaclab/jax_humanoid_ppo.py b/docs/source/examples/isaaclab/jax_humanoid_ppo.py index 58d57e86..561ccae7 100644 --- a/docs/source/examples/isaaclab/jax_humanoid_ppo.py +++ b/docs/source/examples/isaaclab/jax_humanoid_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(400)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(400)(inputs["states"])) diff --git a/docs/source/examples/isaaclab/jax_lift_franka_ppo.py b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py index 998ab04c..78b4728b 100644 --- a/docs/source/examples/isaaclab/jax_lift_franka_ppo.py +++ b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/isaaclab/jax_reach_franka_ppo.py b/docs/source/examples/isaaclab/jax_reach_franka_ppo.py index 701ebf87..180e3283 100644 --- a/docs/source/examples/isaaclab/jax_reach_franka_ppo.py +++ b/docs/source/examples/isaaclab/jax_reach_franka_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py index a2457ecd..afdeed64 100644 --- a/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py +++ b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(128)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(128)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_allegro_hand_ppo.py b/docs/source/examples/omniisaacgym/jax_allegro_hand_ppo.py index 49ca8c32..5e1c6f2e 100644 --- a/docs/source/examples/omniisaacgym/jax_allegro_hand_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_allegro_hand_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_ant_ddpg.py b/docs/source/examples/omniisaacgym/jax_ant_ddpg.py index 8d1358ae..1460ffbd 100644 --- a/docs/source/examples/omniisaacgym/jax_ant_ddpg.py +++ b/docs/source/examples/omniisaacgym/jax_ant_ddpg.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -57,9 +40,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/omniisaacgym/jax_ant_mt_ppo.py b/docs/source/examples/omniisaacgym/jax_ant_mt_ppo.py index 80cce179..645b6417 100644 --- a/docs/source/examples/omniisaacgym/jax_ant_mt_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_ant_mt_ppo.py @@ -1,23 +1,9 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import threading import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -45,9 +31,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -62,9 +45,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_ant_ppo.py b/docs/source/examples/omniisaacgym/jax_ant_ppo.py index fed94204..b9dd4d1b 100644 --- a/docs/source/examples/omniisaacgym/jax_ant_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_ant_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_ant_sac.py b/docs/source/examples/omniisaacgym/jax_ant_sac.py index 70f5d0e8..f077f3f2 100644 --- a/docs/source/examples/omniisaacgym/jax_ant_sac.py +++ b/docs/source/examples/omniisaacgym/jax_ant_sac.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -58,9 +41,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/omniisaacgym/jax_ant_td3.py b/docs/source/examples/omniisaacgym/jax_ant_td3.py index ec49187c..555c451d 100644 --- a/docs/source/examples/omniisaacgym/jax_ant_td3.py +++ b/docs/source/examples/omniisaacgym/jax_ant_td3.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.relu(nn.Dense(512)(inputs["states"])) @@ -57,9 +40,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1) diff --git a/docs/source/examples/omniisaacgym/jax_anymal_ppo.py b/docs/source/examples/omniisaacgym/jax_anymal_ppo.py index d09cf2df..fb9bc889 100644 --- a/docs/source/examples/omniisaacgym/jax_anymal_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_anymal_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_anymal_terrain_ppo.py b/docs/source/examples/omniisaacgym/jax_anymal_terrain_ppo.py index 7401460a..3c92265b 100644 --- a/docs/source/examples/omniisaacgym/jax_anymal_terrain_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_anymal_terrain_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_ball_balance_ppo.py b/docs/source/examples/omniisaacgym/jax_ball_balance_ppo.py index 21057dc3..43cef3a7 100644 --- a/docs/source/examples/omniisaacgym/jax_ball_balance_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_ball_balance_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(128)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(128)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_cartpole_mt_ppo.py b/docs/source/examples/omniisaacgym/jax_cartpole_mt_ppo.py index ac719582..73c3798a 100644 --- a/docs/source/examples/omniisaacgym/jax_cartpole_mt_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_cartpole_mt_ppo.py @@ -1,23 +1,9 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import threading import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -45,9 +31,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) @@ -61,9 +44,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_cartpole_ppo.py b/docs/source/examples/omniisaacgym/jax_cartpole_ppo.py index 4649e938..34aca8e4 100644 --- a/docs/source/examples/omniisaacgym/jax_cartpole_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_cartpole_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) @@ -59,9 +42,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(32)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_crazyflie_ppo.py b/docs/source/examples/omniisaacgym/jax_crazyflie_ppo.py index 52a222c6..a10f3a76 100644 --- a/docs/source/examples/omniisaacgym/jax_crazyflie_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_crazyflie_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.tanh(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.tanh(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_factory_task_nut_bolt_pick_ppo.py b/docs/source/examples/omniisaacgym/jax_factory_task_nut_bolt_pick_ppo.py index 44fd2b15..37efe804 100644 --- a/docs/source/examples/omniisaacgym/jax_factory_task_nut_bolt_pick_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_factory_task_nut_bolt_pick_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -42,9 +28,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -59,9 +42,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_franka_cabinet_ppo.py b/docs/source/examples/omniisaacgym/jax_franka_cabinet_ppo.py index a773e13a..f21c4822 100644 --- a/docs/source/examples/omniisaacgym/jax_franka_cabinet_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_franka_cabinet_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_humanoid_ppo.py b/docs/source/examples/omniisaacgym/jax_humanoid_ppo.py index 11c92135..963c44e2 100644 --- a/docs/source/examples/omniisaacgym/jax_humanoid_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_humanoid_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(400)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(400)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_ingenuity_ppo.py b/docs/source/examples/omniisaacgym/jax_ingenuity_ppo.py index 5413e1ad..a976afb3 100644 --- a/docs/source/examples/omniisaacgym/jax_ingenuity_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_ingenuity_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_quadcopter_ppo.py b/docs/source/examples/omniisaacgym/jax_quadcopter_ppo.py index 0d21d945..a5ab2e75 100644 --- a/docs/source/examples/omniisaacgym/jax_quadcopter_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_quadcopter_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) @@ -60,9 +43,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(256)(inputs["states"])) diff --git a/docs/source/examples/omniisaacgym/jax_shadow_hand_ppo.py b/docs/source/examples/omniisaacgym/jax_shadow_hand_ppo.py index 97c530d7..bbaeebfa 100644 --- a/docs/source/examples/omniisaacgym/jax_shadow_hand_ppo.py +++ b/docs/source/examples/omniisaacgym/jax_shadow_hand_ppo.py @@ -1,21 +1,7 @@ -""" -Notes for Isaac Sim 2022.2.1 or earlier (Python 3.7 environment): - * Python 3.7 is only supported up to jax<=0.3.25. - See: https://github.com/google/jax/blob/main/CHANGELOG.md#jaxlib-041-dec-13-2022. - * Builds for jaxlib<=0.3.25 are only available up to NVIDIA CUDA 11 and cuDNN 8.2 versions. - See: https://storage.googleapis.com/jax-releases/jax_cuda_releases.html - and search for `cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp37-cp37m-manylinux2014_x86_64.whl`. - * The `jax.Device = jax.xla.Device` statement is required by skrl to support jax<0.4.3. - * Models require overloading the `__hash__` method to avoid "TypeError: Failed to hash Flax Module". -""" - import flax.linen as nn import jax import jax.numpy as jnp - -jax.Device = jax.xla.Device # for Isaac Sim 2022.2.1 or earlier - # import the skrl components to build the RL system from skrl import config from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG @@ -43,9 +29,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"])) @@ -61,9 +44,6 @@ def __init__(self, observation_space, action_space, device=None, clip_actions=Fa Model.__init__(self, observation_space, action_space, device, **kwargs) DeterministicMixin.__init__(self, clip_actions) - def __hash__(self): # for Isaac Sim 2022.2.1 or earlier - return id(self) - @nn.compact # marks the given module method allowing inlined submodules def __call__(self, inputs, role): x = nn.elu(nn.Dense(512)(inputs["states"]))