From 555d7ca7db059977b7a8150a8950752a2cdaeead Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 26 Mar 2025 12:36:00 +0100
Subject: [PATCH] python3Packages.brax: init at 0.12.1
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Gaétan Lepage <33058747+GaetanLepage@users.noreply.github.com>
---
 .../python-modules/brax/default.nix           | 113 ++++++++++++++++++
 pkgs/top-level/python-packages.nix            |   2 +
 2 files changed, 115 insertions(+)
 create mode 100644 pkgs/development/python-modules/brax/default.nix

diff --git a/pkgs/development/python-modules/brax/default.nix b/pkgs/development/python-modules/brax/default.nix
new file mode 100644
index 000000000000..5610ee08f322
--- /dev/null
+++ b/pkgs/development/python-modules/brax/default.nix
@@ -0,0 +1,113 @@
+{
+  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 ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 704825453925..d09c74ea223f 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -2010,6 +2010,8 @@ self: super: with self; {
 
   bravia-tv = callPackage ../development/python-modules/bravia-tv { };
 
+  brax = callPackage ../development/python-modules/brax { };
+
   breathe = callPackage ../development/python-modules/breathe { };
 
   breezy = callPackage ../development/python-modules/breezy { };