Package jaxsim pulled from conda-forge raises error because of conflct with new Jax update

[lorycontixd]

The dependency from Jax listed in the environment.yml file is not correct for a conda-forge installation, as it conflicts with a newer update of the Jax library.

Error

The error is:
ImportError: cannot import name 'config' from 'jax.config'
from file src/jaxsim/__init__.py: line 9

How to reproduce

• The requirements.txt file contains the output of conda list:
• conda version: 23.11.0

Possible solution

Require jax version to be < 0.4.25 in environment.yml

[diegoferigo]

Hi @lorycontixd, thanks for reporting! Yes you are right, jax >= 0.4.25 removed jax.config and we used to use it in our __init__.py. Our main branch has been already fixed in #92, but we still need to make a new release and propagate it to conda-forge.

We are soon releasing a new v0.2.0 with brand new APIs (follow #108 for more details). If you are starting any kind of exploration with JaxSim, I warmly recommend to install a development version from the functional branch. Code based on v0.1.0 will no longer run on v0.2.0, and it would need major updates.

[traversaro]

I guess that in the case of the functional branch, if you want to install jaxsim from source in a conda environment, you can use the environment.yml file, right @diegoferigo ?

In that the installation is basically:

git clone https://github.com/ami-iit/jaxsim -b functional
conda create -f ./jaxsim/environment.yml
conda activate jaxsim
pip install -e --no-deps ./jaxsim

[diegoferigo]

That file is pretty new and currently is used only by ReadTheDocs. It should contain all the JaxSim dependencies, yes, thanks for pointing that out, it's a good idea.

We should include this information in the new README of the v0.2.0 version, I think that it's quite useful for all downstream users that want to use a development version of JaxSim, or want to create an environment for proposing a new feature / bug fixing.

[diegoferigo]

Should get fixed by conda-forge/jaxsim-feedstock#2.

[flferretti]

PR merged, closing

[traversaro]

Great!