Jiminy release 1.7.19 (#700)

* [core] Refactor random number generator to remove global state. * [core] Fix sensor delay. * [core] Fix sensor measurement at start. * [core] Heightmap discretization now returns a geometry object and support decimation. * [core] Fix broken PeriodicFourierProcess. * [core] 'ForceSensor' measures only contact forces. * [core] Improvement performance of 'swapMatrixRows' utility. * [core] Avoid code duplication in 'swapJoints' utility. * [core] Passing wrong size to 'isPositionValid' does not trigger exception anymore. * [core] Use function pointer type by default for ControllerFunctor. * [python/viewer] Detect Apple Silicon GPU to enable high-res shadow for panda3d. * [python/viewer] Fix camera pose when travelling is enabled with panda3d. * [python/viewer] Implement ground rendering from meshcat. * [gym_jiminy/common] Fix support of empty arrays for 'contains' space utility. * [gym_jiminy/common] More generic sample utility. * [misc] Add core unit tests and cleanup CI scripts. * [misc] Add support of Python 3.12 for jiminy_py. --------- Co-authored-by: Alexis Duburcq <[email protected]>
duburcqa · Jan 30, 2024 · ef88d8d · ef88d8d
1 parent 2e39130
commit ef88d8d
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Showing 95 changed files with 3,607 additions and 2,052 deletions.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -16,7 +16,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11']
+        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11', '3.12']
         BUILD_TYPE: ['Release']
         include:
           - PYTHON_VERSION: '3.8'
@@ -27,7 +27,6 @@ jobs:
         shell: bash -ieo pipefail {0}
 
     env:
-      TORCH_VERSION: "2.0.1+cpu"
       CMAKE_CXX_FLAGS: "-march=x86-64-v3 -mtune=generic"
 
     #####################################################################################
@@ -68,13 +67,16 @@ jobs:
         sudo apt install -y gdb gnupg curl wget build-essential cmake doxygen graphviz texlive-latex-base
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0" "numba>=0.54.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0"
 
         git config --global advice.detachedHead false
-    - name: Build project dependencies
+    - name: Build jiminy dependencies
       run: |
         BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
-        "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/torch
+    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
+      if: matrix.PYTHON_VERSION != '3.12'
+      run: |
+        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
         "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
 
     #####################################################################################
@@ -89,7 +91,8 @@ jobs:
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
+              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
+              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.12' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make install -j2
 
@@ -114,14 +117,12 @@ jobs:
 
     - name: Run unit tests for jiminy
       run: |
-        cd "$RootDir/build/core/unit"
-        ctest --output-on-failure
+        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
-        cd "$RootDir/python/jiminy_py/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "$RootDir/python/jiminy_py/unit_py" -v
 
     - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE == 'Release'
+      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.12'
       run: |
         cd "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib"
         gdb -batch -ex "run" -ex "bt" --args "${PYTHON_EXECUTABLE}" acrobot_ppo.py 2>&1 | \
@@ -131,8 +132,7 @@ jobs:
         # because they require a different version of `gymnasium`.
         "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
 
-        cd "$RootDir/python/gym_jiminy/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
     - name: Python static type checker
       if: matrix.PYTHON_VERSION == '3.8' && matrix.BUILD_TYPE == 'Release'

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -16,7 +16,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11']
+        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11', '3.12']
         BUILD_TYPE: ['Release']
         include:
           - PYTHON_VERSION: '3.11'
@@ -27,7 +27,6 @@ jobs:
         shell: bash -ieo pipefail {0}
 
     env:
-      TORCH_VERSION: "2.0.1"
       CMAKE_C_COMPILER: "/usr/bin/clang"
       CMAKE_CXX_COMPILER: "/usr/bin/clang++"
       CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION -Wno-deprecated-declarations"
@@ -60,13 +59,16 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0" "numba>=0.54.0" "panda3d==1.10.12.*"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
-    - name: Build project dependencies
+    - name: Build jiminy dependencies
       run: |
         OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
           BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
-        "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/cpu
+    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
+      if: matrix.PYTHON_VERSION != '3.12'
+      run: |
+        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
         "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
 
     #####################################################################################
@@ -87,8 +89,8 @@ jobs:
               -DBOOST_ROOT="${InstallDir}" -DBoost_INCLUDE_DIR="${InstallDir}/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \
-              -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
+              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
+              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.12' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make -j2
 
@@ -159,8 +161,7 @@ jobs:
       run: |
         export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib"
 
-        cd "${RootDir}/build/core/unit"
-        ctest --output-on-failure
+        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
         cd "${RootDir}/python/jiminy_py/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v
@@ -174,18 +175,18 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m unittest test_pipeline_design.py -v
 
     - name: Run unit tests for gym jiminy
-      if: matrix.BUILD_TYPE == 'Release'
+      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.12'
       run: |
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
 
-        # FIXME: segfault when enabling viewer for Panda3D 1.10.12
         cd "${RootDir}/python/gym_jiminy/examples/reinforcement_learning/rllib"
-        JIMINY_VIEWER_DISABLE= "${PYTHON_EXECUTABLE}" acrobot_ppo.py
+        "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
+        # FIXME: Must install stable_baselines3 after running rllib test
+        # because they require a different version of `gymnasium`.
         "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
 
-        cd "${RootDir}/python/gym_jiminy/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
 #########################################################################################
 

diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -13,7 +13,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['cp38', 'cp39', 'cp310', 'cp311']
+        PYTHON_VERSION: ['cp38', 'cp39', 'cp310', 'cp311', 'cp312']
 
     runs-on: ubuntu-20.04
     container: 'quay.io/pypa/manylinux_2_28_x86_64:latest'
@@ -54,7 +54,7 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0" "numba>=0.54.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install twine cmake
     - name: Build project dependencies
       run: |
@@ -75,8 +75,8 @@ jobs:
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \
-              -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
+              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
+              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == 'cp312' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
         make -j2
 
@@ -195,8 +195,7 @@ jobs:
         "$InstallDir/bin/pip_double_pendulum"
     - name: Run unit tests on user environment
       run: |
-        cd "${GITHUB_WORKSPACE}/python/jiminy_py/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${GITHUB_WORKSPACE}/python/jiminy_py/unit_py" -v
 
     #####################################################################################
 

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -36,9 +36,6 @@ jobs:
         # Using bash with automatic sourcing `.bashrc` and fail-fast behavior enabled
         shell: bash -ieo pipefail {0}
 
-    env:
-      TORCH_VERSION: "2.0.1+cpu"
-
     #####################################################################################
 
     steps:
@@ -71,14 +68,13 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         echo "/home/runner/.local/bin" >> $GITHUB_PATH
-    - name: Install pre-compiled dependencies
+    - name: Install pre-compiled project dependencies
       run: |
         sudo env "PATH=$PATH" "${RootDir}/build_tools/easy_install_deps_ubuntu.sh"
         if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
           sudo apt install ninja-build
         fi
-
-        "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/torch
+        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
         "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
 
     #####################################################################################
@@ -134,11 +130,9 @@ jobs:
 
     - name: Run unit tests for jiminy
       run: |
-        cd "${RootDir}/build/core/unit"
-        ctest --output-on-failure
+        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
-        cd "${RootDir}/python/jiminy_py/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v
 
     - name: Run unit tests for gym_jiminy
       if: matrix.BUILD_TYPE != 'Release'
@@ -154,8 +148,7 @@ jobs:
 
         "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
 
-        cd "${RootDir}/python/gym_jiminy/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
     #####################################################################################
 

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -19,13 +19,12 @@ jobs:
         shell: pwsh
 
     env:
-      TORCH_VERSION: "2.0.1+cpu"
       GENERATOR: "Visual Studio 17 2022"
       CMAKE_CXX_FLAGS: "/DEIGEN_MPL2_ONLY /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11']
+        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11', '3.12']
         BUILD_TYPE: ['Release']
         include:
           - PYTHON_VERSION: '3.10'
@@ -58,16 +57,17 @@ jobs:
       run: |
         git config --global advice.detachedHead false
         python -m pip install setuptools wheel "pip>=20.3"
-        python -m pip install "numpy>=1.21,<2.0" "numba>=0.54.0"
+        python -m pip install "numpy>=1.21,<2.0"
         python -m pip install pefile machomachomangler
-    - name: Build project dependencies
+    - name: Build jiminy dependencies
       run: |
-        if ("${{ matrix.PYTHON_VERSION }}" -ne '3.11') {
-          python -m pip install "torch==${env:TORCH_VERSION}" -f https://download.pytorch.org/whl/torch
-          python -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
-        }
         ${env:BUILD_TYPE} = "${{ matrix.BUILD_TYPE }}"
         & "./workspace/build_tools/build_install_deps_windows.ps1"
+    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
+      if: matrix.PYTHON_VERSION != '3.11' && matrix.PYTHON_VERSION != '3.12'
+      run: |
+        python -m pip install "torch" -f https://download.pytorch.org/whl/torch
+        python -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
 
     #####################################################################################
 
@@ -95,7 +95,7 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" `
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.11' && 'OFF') || 'ON' }} `
+              -DINSTALL_GYM_JIMINY=${{ ((matrix.PYTHON_VERSION == '3.11' || matrix.PYTHON_VERSION == '3.12') && 'OFF') || 'ON' }} `
               -DCMAKE_CXX_FLAGS="${env:CMAKE_CXX_FLAGS} $(
               ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $(
               ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
@@ -179,11 +179,9 @@ jobs:
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
 
-        Set-Location -Path "$RootDir/build/core/unit"
-        ctest --output-on-failure
+        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
-        Set-Location -Path "$RootDir/python/jiminy_py/unit_py"
-        python -m unittest discover -v
+        python -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v
 
     - name: Run unit tests for gym_jiminy
       if: matrix.BUILD_TYPE != 'Release'
@@ -194,18 +192,18 @@ jobs:
         python -m unittest test_pipeline_control.py test_pipeline_design.py -v
 
     - name: Running unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.11'
+      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.11' && matrix.PYTHON_VERSION != '3.12'
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
 
         Set-Location -Path "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib"
-        $JIMINY_VIEWER_DEFAULT_BACKEND = "panda3d-sync"
         python acrobot_ppo.py
 
+        # FIXME: Must install stable_baselines3 after running rllib test
+        # because they require a different version of `gymnasium`.
         python -m pip install "stable_baselines3>=2.0"
 
-        Set-Location -Path "$RootDir/python/gym_jiminy/unit_py"
-        python -m unittest discover -v
+        python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
 #########################################################################################
 

diff --git a/.pylintrc b/.pylintrc
@@ -74,7 +74,9 @@ disable =
     cyclic-import
 
 # Enable the message, report, category or checker with the given id(s)
-enable = c-extension-no-member
+enable =
+    c-extension-no-member,
+    useless-suppression
 
 [tool.pylint.miscellaneous]
 # List of note tags to take in consideration, separated by a comma.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.12.4)
 
 # Set the build version (specify a tweak version to indicated post-release if needed)
-set(BUILD_VERSION 1.7.18.1)
+set(BUILD_VERSION 1.7.19)
 
 # Set compatibility
 set(COMPATIBILITY_VERSION SameMinorVersion)

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -31,6 +31,7 @@ set(SRC
     "${CMAKE_CURRENT_SOURCE_DIR}/src/utilities/helpers.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/utilities/pinocchio.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/utilities/json.cc"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/utilities/geometry.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/utilities/random.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/io/abstract_io_device.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/io/memory_device.cc"