[gym] Maintenance update. (#390)

* [core] Fix random physics sampling.
* [core] Make sure random physics parameters are valid
* [python/simulator] Fix default external force display during replay.
* [python/viewer] Check that 'time_interval' is valid. Fix out-of-range edge case.
* [python/viewer] Fix support of robot without sensors nor freeflyer.
* [gym/common] More efficient random number generator.
* [gym/common] Fast space 'clip' utility.
* [gym/common] Reset internal '_info' buffer before calling 'is_done' to enable storing extra info. (#386)
* [gym/common] Do not automatically disable telemetry anymore.
* [gym/common] Enable 'refresh_observation' to access up-to-date shared internal data. (#384) 
* [gym/common] '_setup' updates frame kinematics for neutral configuration by default.
* [gym/common] Various minor bug fixes.
* [gym/toolbox] Add more convex hull utilities.
* [gym/toolbox] Add math utilities to extract yaw from transform.
* [gym/toolbox] Fix computation of distance from convex hull.
* [gym/rllib] Fix connection of existing ray cluster head.
* [gym/rllib] Clip random obs to space bounds in PPO regularization.
* [gym/rllib] Fix support of non-dict obs space for 'build_policy_wrapper'.
* [misc] Add mass fixed frame with visual to cartpole.
* [misc] Disable warnings when build SOUP. (#378)
* [misc] Fix push gym_jiminy wheels on pypi. (#379)
* [misc] Fix support of python virtual env for easy-install script. (#383)

Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>

.github/workflows/manylinux.yml

@@ -136,7 +136,7 @@ jobs:
         packages_dir: build/wheelhouse
     - name: Publish on PyPi the wheel of Gym Jiminy (Any platform / Any python3 version)
       if: >-
-        success() && matrix.container == 'manylinux2010_x86_64' && matrix.PYTHON_VERSION == '3.6' && matrix.legacy == false &&
+        success() && matrix.container == 'manylinux2010_x86_64' && matrix.PYTHON_VERSION == 'cp36' && matrix.legacy == false &&
         github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
       uses: pypa/gh-action-pypi-publish@master
       with:

.github/workflows/ubuntu.yml

@@ -48,7 +48,7 @@ jobs:
         echo "/home/runner/.local/bin" >> $GITHUB_PATH
     - name: Installing requirements
       run: |
-        sudo "${GITHUB_WORKSPACE}/build_tools/easy_install_deps_ubuntu.sh"
+        sudo env "PATH=$PATH" "${GITHUB_WORKSPACE}/build_tools/easy_install_deps_ubuntu.sh"
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
         "${PYTHON_EXECUTABLE}" -m pip install tensorflow
         "${PYTHON_EXECUTABLE}" -m pip install "torch==1.8.0+cpu" -f https://download.pytorch.org/whl/torch_stable.html

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.6.27)
+set(BUILD_VERSION 1.6.28)
 
 # Set compatibility
 if(CMAKE_VERSION VERSION_GREATER "3.11.0")

INSTALL.md

@@ -75,7 +75,7 @@ python -m pip install gym-jiminy
 First, one must install the pre-compiled libraries of the dependencies. Most of them are available on `robotpkg` APT repository. Just run the bash script to install them automatically for Ubuntu 18 and upward. It should be straightforward to adapt it to any other distribution for which `robotpkg` is available.
 
 ```bash
-sudo ./build_tools/easy_install_deps_ubuntu.sh
+sudo env "PATH=$PATH" ./build_tools/easy_install_deps_ubuntu.sh
 ```
 
 You are now ready to build and install Jiminy itself.

build_tools/cmake/setupPython.cmake

@@ -29,7 +29,7 @@ endif()
 
 # Get Python version
 execute_process(COMMAND "${Python_EXECUTABLE}" -c
-                        "import sys ; print(';'.join([str(x) for x in sys.version_info[:3]]), end='')"
+                        "import sys ; print(';'.join(map(str, sys.version_info[:3])), end='')"
                 OUTPUT_VARIABLE _VERSION)
 list(GET _VERSION 0 Python_VERSION_MAJOR)
 list(GET _VERSION 1 Python_VERSION_MINOR)
@@ -43,7 +43,7 @@ endif()
 
 # Get Python system and user site-packages
 execute_process(COMMAND "${Python_EXECUTABLE}" -c
-                        "import sysconfig; print(sysconfig.get_paths()['purelib'], end='')"
+                        "import sysconfig; print(sysconfig.get_path('purelib'), end='')"
                 OUTPUT_VARIABLE Python_SYS_SITELIB)
 message(STATUS "Python system site-packages: ${Python_SYS_SITELIB}")
 execute_process(COMMAND "${Python_EXECUTABLE}" -m site --user-site

build_tools/easy_install_deps_ubuntu.sh

@@ -4,37 +4,61 @@
 
 export DEBIAN_FRONTEND=noninteractive
 
+# Make sure the script has root privilege
+if ! [ $(id -u) = 0 ]; then
+    echo 'This script must be executed using `sudo env "PATH=$PATH"`.'
+    exit 1
+fi
+
+# Set SUDO_UID to 0 (root) if not defined, which may happen in docker container
+if [ -z ${SUDO_UID+x} ]; then
+    SUDO_UID=0;
+fi
+
 # Determine if the script is being executed on Ubuntu
 if [ -f /etc/lsb-release ]; then
     source /etc/lsb-release
-    if [ "$DISTRIB_ID" != "Ubuntu" ] ; then
+    if [ "${DISTRIB_ID}" != "Ubuntu" ] ; then
         echo "Not running on Ubuntu. Aborting..."
-        exit 0
+        exit 1
     fi
 else
     echo "Not running on Ubuntu. Aborting..."
-    exit 0
+    exit 1
 fi
+echo "-- Linux distribution: ${DISTRIB_ID} ${DISTRIB_CODENAME}"
 
-# Get Python 3 executable
-PYTHON_BIN="$(basename $(readlink $(which python3)))"
+# Check if current python executable has the same version as the built-in one
+GET_PYTHON_VERSION="python3 -c \"import sys ; print('.'.join(map(str, sys.version_info[:2])), end='')\""
+PYTHON_VERSION="$(eval ${GET_PYTHON_VERSION})"
+PYTHON_SYS_VERSION="$(sudo -s eval ${GET_PYTHON_VERSION})"
+if [ "${PYTHON_VERSION}" != "${PYTHON_SYS_VERSION}" ]; then
+    echo "Python version must match the built-in one if using a virtual env."
+    exit 1
+fi
+echo "-- Python executable: $(which python3)"
+echo "-- Python version: ${PYTHON_VERSION}"
 
-# Set SUDO_UID to 0 (root) if not defined, which may happen in docker container
-if [ -z ${SUDO_UID+x} ]; then
-    SUDO_UID=0;
+# Get Python 3 executable and wrtiable site packages location
+PYTHON_BIN="python${PYTHON_VERSION}"
+PYTHON_SITELIB="$(python3 -c "import sysconfig; print(sysconfig.get_path('purelib'), end='')")"
+echo "-- Python default site-packages: ${PYTHON_SITELIB}"
+if ! test -w "${PYTHON_SITELIB}" ; then
+    PYTHON_SITELIB="$(sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m site --user-site)"
 fi
+echo "-- Python writable site-packages: ${PYTHON_SITELIB}"
 
 # Install Python 3 standard utilities
 apt update && \
 apt install -y sudo python3-setuptools python3-pip python3-tk && \
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade pip && \
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade wheel && \
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade "numpy>=1.16"
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade pip && \
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade wheel && \
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade "numpy>=1.16"
 
 # Install Python 3 toolsuite for testing and documentation generation
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade setuptools auditwheel && \
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade flake8 pylint mypy types-toml && \
-sudo -u $(id -nu "$SUDO_UID") env "PATH=$PATH" python3 -m pip install --upgrade \
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade setuptools auditwheel && \
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade flake8 pylint mypy types-toml && \
+sudo -u $(id -nu "${SUDO_UID}") env "PATH=${PATH}" python3 -m pip install --upgrade \
     pygments colorama sphinx sphinx_rtd_theme recommonmark nbsphinx breathe aafigure
 
 # Install standard linux utilities
@@ -46,25 +70,26 @@ apt install -y libeigen3-dev libboost-all-dev liboctomap-dev
 # Install OpenGL
 apt install -y mesa-utils
 
-# Install robotpkg tools suite
-if ! [ -d "/opt/openrobots/lib/${PYTHON_BIN}/site-packages/" ] ; then
-    # Add apt repository if necessary
-    if ! grep -q "^deb .*robotpkg.openrobots.org" /etc/apt/sources.list.d/*; then
-        sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub ${DISTRIB_CODENAME} robotpkg' >> /etc/apt/sources.list.d/robotpkg.list" && \
-        curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add - && \
-        apt update
-    fi
+# Add robotpkg apt repository if necessary
+if ! grep -q "^deb .*robotpkg.openrobots.org" /etc/apt/sources.list.d/*; then
+    sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub ${DISTRIB_CODENAME} robotpkg' >> /etc/apt/sources.list.d/robotpkg.list" && \
+    curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add - && \
+    apt update
+fi
 
-    # apt-get must be used instead of apt to support wildcard in package name on Ubuntu 20
-    apt-get install -y --allow-downgrades --allow-unauthenticated \
-        robotpkg-octomap=1.9.0 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
-        robotpkg-qt5-osgqt=3.5.7r2 robotpkg-py3*-qt5-gepetto-viewer=4.12.0r2 robotpkg-py3*-qt5-gepetto-viewer-corba=5.6.0 \
-        robotpkg-py3*-omniorbpy=4.2.4 robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
+# Install robotpkg tools suite.
+# Note that `apt-get` is used instead of `apt` because it supports wildcard in package names
+apt-get install -y --allow-downgrades --allow-unauthenticated \
+    robotpkg-octomap=1.9.0 robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=1.7.1 robotpkg-pinocchio=2.5.6 \
+    robotpkg-qt5-osgqt=3.5.7r2 robotpkg-py3*-qt5-gepetto-viewer=4.12.0r2 robotpkg-py3*-qt5-gepetto-viewer-corba=5.6.0 \
+    robotpkg-py3*-omniorbpy=4.2.4 robotpkg-py3*-eigenpy=2.6.2 robotpkg-py3*-hpp-fcl=1.7.1 robotpkg-py3*-pinocchio=2.5.6
 
+# Add openrobots libraries to python packages search path
+if ! [ -f "${PYTHON_SITELIB}/openrobots.pth" ]; then
     sudo -H -u $(id -nu "$SUDO_UID") bash -c " \
-    echo 'export LD_LIBRARY_PATH=\"/opt/openrobots/lib:\${LD_LIBRARY_PATH}\"' >> \$HOME/.bashrc && \
-    echo 'export PATH=\"\${PATH}:/opt/openrobots/bin\"' >> \$HOME/.bashrc && \
-    mkdir -p \$HOME/.local/lib/${PYTHON_BIN}/site-packages && \
-    touch \$HOME/.local/lib/${PYTHON_BIN}/site-packages/openrobots.pth && \
-    echo /opt/openrobots/lib/${PYTHON_BIN}/site-packages/ > \$HOME/.local/lib/${PYTHON_BIN}/site-packages/openrobots.pth"
+    echo 'export LD_LIBRARY_PATH=\"/opt/openrobots/lib:\${LD_LIBRARY_PATH}\"' >> \${HOME}/.bashrc && \
+    echo 'export PATH=\"\${PATH}:/opt/openrobots/bin\"' >> \${HOME}/.bashrc && \
+    mkdir -p '${PYTHON_SITELIB}' && \
+    touch '${PYTHON_SITELIB}/openrobots.pth' && \
+    echo '/opt/openrobots/lib/${PYTHON_BIN}/site-packages/' > '${PYTHON_SITELIB}/openrobots.pth'"
 fi

core/CMakeLists.txt

@@ -20,7 +20,7 @@ else()
     message(STATUS "Found urdfdom")
 endif()
 find_package(pinocchio 2.5.6 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # Pinocchio v2.5.6 fixes 'aba' overwritting 'data.a_gf'
-find_package(hpp-fcl 1.5.4 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # hpp-fcl >= 1.5.4 adds support of collision of primitives with halfspace
+find_package(hpp-fcl 1.7.1 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # hpp-fcl >= 1.7.1 adds collision geometry pointers
 find_package(Eigen3 3.3.0 REQUIRED NO_MODULE)  # It adds the target Eigen3::Eigen
 
 # Pinocchio-specific stuffs

core/src/robot/Model.cc

@@ -1103,7 +1103,7 @@ namespace jiminy
                 if (comBiasStd > EPS)
                 {
                     vector3_t & comRelativePositionBody = pncModel_.inertias[jointIdx].lever();
-                    comRelativePositionBody.array() *= randVectorNormal(3U, comBiasStd).array();
+                    comRelativePositionBody.array() *= 1.0 + randVectorNormal(3U, comBiasStd).array();
                 }
 
                 /* Add bias to body mass.
@@ -1132,7 +1132,7 @@ namespace jiminy
                     matrix3_t inertiaBodyAxes = solver.eigenvectors();
                     vector3_t const randAxis = randVectorNormal(3U, inertiaBiasStd);
                     inertiaBodyAxes = inertiaBodyAxes * quaternion_t(pinocchio::exp3(randAxis));
-                    inertiaBodyMoments.array() *= randVectorNormal(3U, inertiaBiasStd).array();
+                    inertiaBodyMoments.array() *= 1.0 + randVectorNormal(3U, inertiaBiasStd).array();
                     inertiaBody = pinocchio::Symmetric3((
                         inertiaBodyAxes * inertiaBodyMoments.asDiagonal() * inertiaBodyAxes.transpose()).eval());
                 }
@@ -1142,7 +1142,7 @@ namespace jiminy
                 if (relativeBodyPosBiasStd > EPS)
                 {
                     vector3_t & relativePositionBody = pncModel_.jointPlacements[jointIdx].translation();
-                    relativePositionBody.array() *= randVectorNormal(3U, relativeBodyPosBiasStd).array();
+                    relativePositionBody.array() *= 1.0 + randVectorNormal(3U, relativeBodyPosBiasStd).array();
                 }
             }
 
@@ -1645,8 +1645,7 @@ namespace jiminy
             }
 
             // Check if the flexible model and its proxies must be regenerated
-            configHolder_t & dynOptionsHolder =
-                boost::get<configHolder_t>(modelOptions.at("dynamics"));
+            configHolder_t & dynOptionsHolder = boost::get<configHolder_t>(modelOptions.at("dynamics"));
             bool_t const & enableFlexibleModel = boost::get<bool_t>(dynOptionsHolder.at("enableFlexibleModel"));
             flexibilityConfig_t const & flexibilityConfig =
                 boost::get<flexibilityConfig_t>(dynOptionsHolder.at("flexibilityConfig"));
@@ -1663,20 +1662,35 @@ namespace jiminy
             {
                 isCurrentModelInvalid = true;
             }
+        }
+
+        // Check that the collisions options are valid
+        configHolder_t & collisionOptionsHolder = boost::get<configHolder_t>(modelOptions.at("collisions"));
+        uint32_t const & maxContactPointsPerBody = boost::get<uint32_t>(collisionOptionsHolder.at("maxContactPointsPerBody"));
+        if (maxContactPointsPerBody < 1)
+        {
+            PRINT_ERROR("The number of contact points by collision pair 'maxContactPointsPerBody' must be at least 1.");
+            return hresult_t::ERROR_BAD_INPUT;
+        }
+        if (mdlOptions_ && maxContactPointsPerBody != mdlOptions_->collisions.maxContactPointsPerBody)
+        {
+            isCollisionDataInvalid = true;
+        }
 
-            // Check that the collisions options are valid
-            configHolder_t & collisionOptionsHolder =
-                boost::get<configHolder_t>(modelOptions.at("collisions"));
-            uint32_t const & maxContactPointsPerBody = boost::get<uint32_t>(collisionOptionsHolder.at("maxContactPointsPerBody"));
-            if (maxContactPointsPerBody < 1)
+        // Check that the model randomization parameters are valid
+        configHolder_t & dynOptionsHolder = boost::get<configHolder_t>(modelOptions.at("dynamics"));
+        for (std::string const & field : std::vector<std::string>{
+                 "inertiaBodiesBiasStd",
+                 "massBodiesBiasStd",
+                 "centerOfMassPositionBodiesBiasStd",
+                 "relativePositionBodiesBiasStd"})
+        {
+            float64_t const & value = boost::get<float64_t>(dynOptionsHolder.at(field));
+            if (0.9 < value || value < 0.0)
             {
-                PRINT_ERROR("The number of contact points by collision pair 'maxContactPointsPerBody' must be at least 1.");
+                PRINT_ERROR("'" + field + "' must be positive, and lower than 0.9 to avoid physics issues.");
                 return hresult_t::ERROR_BAD_INPUT;
             }
-            if (mdlOptions_ && maxContactPointsPerBody != mdlOptions_->collisions.maxContactPointsPerBody)
-            {
-                isCollisionDataInvalid = true;
-            }
         }
 
         // Update the internal options

core/src/utilities/Random.cc

@@ -174,7 +174,7 @@ namespace jiminy
     vectorN_t randVectorNormal(uint32_t  const & size,
                                float64_t const & std)
     {
-        return randVectorNormal(size, 0, std);
+        return randVectorNormal(size, 0.0, std);
     }
 
     vectorN_t randVectorNormal(vectorN_t const & mean,
@@ -736,6 +736,7 @@ namespace jiminy
     void RandomPerlinProcess::initialize(void)
     {
         // Add desired perlin noise octaves
+        octaves_.clear();
         octaves_.reserve(numOctaves_);
         float64_t octaveWavelength = wavelength_;
         float64_t octaveScale = 1.0;
@@ -764,6 +765,7 @@ namespace jiminy
     void PeriodicPerlinProcess::initialize(void)
     {
         // Add desired perlin noise octaves
+        octaves_.clear();
         octaves_.reserve(numOctaves_);
         float64_t octaveWavelength = wavelength_;
         float64_t octaveScale = 1.0;

data/toys_models/cartpole/cartpole.urdf

@@ -63,4 +63,19 @@
       <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
     </inertial>
   </link>
+  <joint name="pole_to_mass" type="fixed">
+    <origin xyz="0.0 0.0 1.0" rpy="0.0 0.0 0.0"/>
+    <parent link="pole"/>
+    <child link="mass"/>
+  </joint>
+  <link name="mass">
+    <visual>
+      <geometry>
+        <sphere radius="0.05"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1.0 1.0 1.0 1.0"/>
+      </material>
+    </visual>
+  </link>
 </robot>