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macos.yml
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name: MacOS CI (Build from source dependencies)
on:
# Trigger the workflow on push on the master branch, or for any pull request
push:
branches:
- master
pull_request:
jobs:
build-and-test-osx:
name: >-
(${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
Build and run the unit tests. Then generate and publish the wheels on PyPi.
strategy:
matrix:
OS: ['macos-13'] # 'macos-13': Intel (x86), 'macos-14': Apple Silicon (arm64)
# meshcat video recorder 'playwright' is not working on 'macos-14' runners.
PYTHON_VERSION: ['3.10', '3.11', '3.12'] # `setup-python` does not support Python<3.10 on Apple Silicon
BUILD_TYPE: ['Release']
include:
- OS: 'macos-13'
PYTHON_VERSION: '3.8'
BUILD_TYPE: 'Release'
- OS: 'macos-13'
PYTHON_VERSION: '3.9'
BUILD_TYPE: 'Release'
- OS: 'macos-13'
PYTHON_VERSION: '3.11'
BUILD_TYPE: 'Debug'
runs-on: ${{ matrix.OS }}
defaults:
run:
shell: bash -ieo pipefail {0}
env:
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"
OSX_DEPLOYMENT_TARGET: "11.0"
OSX_ARCHITECTURES: "x86_64;arm64"
WHEEL_ARCH: "universal2"
#####################################################################################
steps:
- name: Checkout jiminy
uses: actions/checkout@v4
#####################################################################################
- name: Configure Python
uses: actions/setup-python@v5
with:
python-version: ${{ matrix.PYTHON_VERSION }}
- name: Setup minimal build environment
run: |
git config --global advice.detachedHead false
PYTHON_EXECUTABLE="${pythonLocation}/bin/python3"
echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
"${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
"${PYTHON_EXECUTABLE}" -m pip install delocate twine
- name: Install pre-compiled binaries for additional gym-jiminy dependencies
if: matrix.PYTHON_VERSION != '3.13'
run: |
"${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
"${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
- name: Install latest numpy version at build-time for run-time binary compatibility
run: |
"${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24,<2.0"
- name: Build jiminy dependencies
run: |
OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
#####################################################################################
- name: Build and install Jiminy
run: |
unset Boost_ROOT
# Build jiminy
mkdir "${RootDir}/build"
cd "${RootDir}/build"
export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
cmake "${RootDir}" -Wdev \
-DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
-DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
-DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
-DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \
-DBOOST_ROOT="${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=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
make -j2
# Bundle the boost python dependencies with jiminy
mkdir -p "${RootDir}/build/pypi/jiminy_py/src/jiminy_py"
cp -R -H "${InstallDir}/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \
"${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core"
# Install jiminy along with its dependencies
make install
# Strip all symbol table and relocation information from python bindings and shared libraries
find "${RootDir}/build/pypi/" -name "*.so" -print -exec strip -x {} +
find "${InstallDir}/lib" -name "*.dylib" -maxdepth 1 -print -exec strip -x {} +
#####################################################################################
- name: Generate and install Python Pip wheels
run: |
export LD_LIBRARY_PATH="${InstallDir}/lib:${DYLD_LIBRARY_PATH}"
export DYLD_FALLBACK_LIBRARY_PATH="${LD_LIBRARY_PATH}"
# Generate stubs
stubgen -p jiminy_py -o ${RootDir}/build/pypi/jiminy_py/src
"${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/stub_gen.py" \
-o ${RootDir}/build/stubs --ignore-invalid=all jiminy_py
cp ${RootDir}/build/stubs/jiminy_py-stubs/core/__init__.pyi \
${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
# Generate wheels
cd "${RootDir}/build"
cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
# Bundle non-standard dependencies with the wheels
delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \
-w "${RootDir}/build/wheelhouse" "${RootDir}/build/pypi/dist/jiminy_py/"*.whl
"${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \
-p "macosx_${OSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl
"${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl
- name: Upload the wheel for Linux of jiminy_py
if: matrix.BUILD_TYPE != 'Debug'
uses: actions/upload-artifact@v4
with:
name: wheelhouse-${{ matrix.PYTHON_VERSION }}
path: build/wheelhouse
#####################################################################################
- name: Build extension module
run: |
export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib"
"${InstallDir}/bin/jiminy_double_pendulum"
mkdir -p "${RootDir}/core/examples/external_project/build"
cd "${RootDir}/core/examples/external_project/build"
cmake "${RootDir}/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
-DCMAKE_PREFIX_PATH="${InstallDir}" -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
make install
"${InstallDir}/bin/pip_double_pendulum"
#####################################################################################
- name: Run unit tests for jiminy
run: |
export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib"
ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
cd "${RootDir}/python/jiminy_py/unit_py"
"${PYTHON_EXECUTABLE}" -m unittest discover -v
- name: Run unit tests for gym jiminy base module
run: |
export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
# FIXME: Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is
# failing for 'panda3d-sync' backend due to meshes still loading at screenshot time.
if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
export JIMINY_BUILD_DEBUG=
fi
"${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
- name: Run examples for gym jiminy add-on modules
if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.12'
run: |
export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
cd "${RootDir}/python/gym_jiminy/examples/rllib"
"${PYTHON_EXECUTABLE}" acrobot_ppo.py
#########################################################################################
publish-pypi-macos:
name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py
runs-on: ubuntu-22.04
permissions:
id-token: write
needs: build-and-test-osx
if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
steps:
- name: Download the wheel previously generated
uses: actions/download-artifact@v4
with:
pattern: wheelhouse-*
merge-multiple: true
path: wheelhouse
- name: Publish the wheel
uses: pypa/gh-action-pypi-publish@v1.8.11
with:
packages-dir: wheelhouse
verify-metadata: false