Merge branch 'develop' into feat/add-algo-aurora

README.md

@@ -2,6 +2,7 @@
 <img src="docs/img/qdax_logo.png" alt="qdax_logo" width="140"></img>
 </div>
 
+
 # QDax: Accelerated Quality-Diversity
 
 [![Documentation Status](https://readthedocs.org/projects/qdax/badge/?version=latest)](https://qdax.readthedocs.io/en/latest/?badge=latest)

examples/jumanji_snake.ipynb

@@ -91,7 +91,7 @@
    "outputs": [],
    "source": [
     "# Instantiate a Jumanji environment using the registry\n",
-    "env = jumanji.make('Snake-6x6-v0')\n",
+    "env = jumanji.make('Snake-v1')\n",
     "\n",
     "# Reset your (jit-able) environment\n",
     "key = jax.random.PRNGKey(0)\n",

qdax/environments/__init__.py

@@ -1,9 +1,13 @@
 import functools
 from typing import Any, Callable, List, Optional, Union
 
-from brax.v1.envs import Env
-from brax.v1.envs import _envs
-from brax.v1.envs.wrappers import EpisodeWrapper, AutoResetWrapper, EvalWrapper, VectorWrapper
+from brax.v1.envs import Env, _envs
+from brax.v1.envs.wrappers import (
+    AutoResetWrapper,
+    EpisodeWrapper,
+    EvalWrapper,
+    VectorWrapper,
+)
 
 from qdax.environments.base_wrappers import QDEnv, StateDescriptorResetWrapper
 from qdax.environments.bd_extractors import (

qdax/environments/wrappers.py

@@ -1,9 +1,9 @@
 from typing import Dict
 
-from brax.v1.envs import State, Wrapper
 import flax.struct
 import jax
 from brax.v1 import jumpy as jp
+from brax.v1.envs import State, Wrapper
 
 
 class CompletedEvalMetrics(flax.struct.PyTreeNode):
@@ -34,9 +34,7 @@ def reset(self, rng: jp.ndarray) -> State:
         reset_state.info[self.STATE_INFO_KEY] = eval_metrics
         return reset_state
 
-    def step(
-        self, state: State, action: jp.ndarray
-    ) -> State:
+    def step(self, state: State, action: jp.ndarray) -> State:
         state_metrics = state.info[self.STATE_INFO_KEY]
         if not isinstance(state_metrics, CompletedEvalMetrics):
             raise ValueError(f"Incorrect type for state_metrics: {type(state_metrics)}")

tests/default_tasks_test/jumanji_envs_test.py

@@ -5,6 +5,7 @@
 import jax
 import jax.numpy as jnp
 import jumanji
+import jumanji.environments.routing.snake
 import numpy as np
 import pytest
 
@@ -26,7 +27,7 @@ def test_jumanji_utils() -> None:
     batch_size = population_size
 
     # Instantiate a Jumanji environment using the registry
-    env = jumanji.make("Snake-6x6-v0")
+    env = jumanji.make("Snake-v1")
 
     # Reset your (jit-able) environment
     key = jax.random.PRNGKey(0)
@@ -49,8 +50,10 @@ def test_jumanji_utils() -> None:
         final_activation=jax.nn.softmax,
     )
 
-    def observation_processing(observation: jumanji.types.Observation) -> Observation:
-        network_input = jnp.ravel(observation)
+    def observation_processing(
+        observation: jumanji.environments.routing.snake.types.Observation,
+    ) -> Observation:
+        network_input = jnp.ravel(observation.grid)
         return network_input
 
     play_step_fn = make_policy_network_play_step_fn_jumanji(
@@ -64,7 +67,7 @@ def observation_processing(observation: jumanji.types.Observation) -> Observatio
     keys = jax.random.split(subkey, num=batch_size)
 
     # compute observation size from observation spec
-    observation_size = np.prod(np.array(env.observation_spec().shape))
+    observation_size = np.prod(np.array(env.observation_spec().grid.shape))
 
     fake_batch = jnp.zeros(shape=(batch_size, observation_size))
     init_variables = jax.vmap(policy_network.init)(keys, fake_batch)
@@ -136,4 +139,5 @@ def bd_extraction(
 
 
 if __name__ == "__main__":
+    pytest.assume
     test_jumanji_utils()

tests/environments_test/pointmaze_test.py

@@ -1,10 +1,9 @@
 from typing import Any, Tuple
 
-import brax
-import brax.envs
 import jax
 import pytest
-from brax import jumpy as jp
+from brax.v1 import jumpy as jp
+from brax.v1.envs import Env
 
 import qdax
 from qdax.environments.pointmaze import PointMaze
@@ -15,7 +14,7 @@ def test_pointmaze() -> None:
     # create env with class
     qd_env = PointMaze()
     # verify class
-    pytest.assume(isinstance(qd_env, brax.envs.Env))
+    pytest.assume(isinstance(qd_env, Env))
 
     # check state_descriptor_length
     pytest.assume(qd_env.state_descriptor_length == 2)
@@ -25,7 +24,7 @@ def test_pointmaze() -> None:
     qd_env = qdax.environments.create(env_name="pointmaze")  # type: ignore
 
     # verify class
-    pytest.assume(isinstance(qd_env, brax.envs.Env))
+    pytest.assume(isinstance(qd_env, Env))
 
     # check state_descriptor_length
     pytest.assume(qd_env.state_descriptor_length == 2)

tests/environments_test/wrapper_test.py

@@ -1,12 +1,12 @@
 from typing import Dict, List, Union
 
-import brax.envs
+import brax
 import jax
 import jax.numpy as jnp
 import pytest
-from brax import jumpy as jp
-from brax.physics.base import vec_to_arr
-from brax.physics.config_pb2 import Joint
+from brax.v1 import jumpy as jp
+from brax.v1.physics.base import vec_to_arr
+from brax.v1.physics.config_pb2 import Joint
 
 from qdax import environments