Jiminy release 1.8.5 (#777)

* [core] Full support of serialization of 'Robot'. (#770) (#775) * [core] Do NOT use 'enable_shared_from_this' if not strictly necessary. (#775) * [core] Rename macro 'PRINT_WARNING' in 'JIMINY_WARNING' to avoid conflicts. (#775) * [python/simulator] 'plot' now support multi-robot simulations. (#770) * [gym/common] Speedup 'PDController' env pipeline block. (#770) * [gym/common] Speedup 'StackedJiminyEnv' wrapper. (#770) * [gym/common] More generic 'FilterObservation', 'StackedJiminyEnv' wrappers. (#770) (#776) * [gym/common] Improve 'render_mode' support. * [gym/zoo] Cleanup and speedup toy model environments. (#770) * [gym/rllib] Fix multi-GPU support using custom PPO (#774) * [gym/rllib] Fix 'train' method typing and documentation. (#775) * [misc] Fix partially broken 'mypy' static type checking for 'jiminy_py' module. (#770) * [misc] Add RL tutorial notebook.
duburcqa · Apr 28, 2024 · 43a3f56 · 43a3f56
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diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -155,8 +155,8 @@ jobs:
         # Anyway, the stubs generated for eigenpy, hppfcl and pinocchio they are incomplete and
         # even partially wrong, so it is better to ignore them for now.
         # See: https://github.com/python/mypy/issues/14848.
-        cd "${RootDir}/python/jiminy_py/"
-        mypy --config-file="${RootDir}/.mypy.ini" -p src
+        cd "${RootDir}/python/jiminy_py/src"
+        mypy --config-file="${RootDir}/.mypy.ini" -p jiminy_py
         for name in "common" "envs" "toolbox" "rllib"; do
           cd "${RootDir}/python/gym_jiminy/$name"
           mypy --config-file="${RootDir}/.mypy.ini" -p gym_jiminy

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -99,8 +99,8 @@ jobs:
               -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DBoost_NO_SYSTEM_PATHS=OFF \
-              -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
+              -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
@@ -127,8 +127,8 @@ jobs:
               -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
-              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
+              -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
           ninja install
         else

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 1.8.4)
+set(BUILD_VERSION 1.8.5)
 
 # MSVC runtime library flags are defined by 'CMAKE_MSVC_RUNTIME_LIBRARY'
 if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.15.7)

diff --git a/build_tools/cmake/base.cmake b/build_tools/cmake/base.cmake
@@ -14,9 +14,9 @@ if(CMAKE_VERSION VERSION_LESS "3.24.0")
 endif()
 
 # Check if network is available before compiling external projects
-if(WIN32)
-    set(BUILD_OFFLINE 0)
-else()
+set(BUILD_OFFLINE 0)
+find_program(PING "ping")
+if(NOT WIN32 AND PING)
     unset(BUILD_OFFLINE)
     unset(BUILD_OFFLINE CACHE)
     execute_process(COMMAND bash -c
@@ -49,12 +49,17 @@ else()
                    -Wsequence-point -Wdeprecated -Wconversion \
                    -Wdelete-non-virtual-dtor -Wno-missing-braces \
                    -Wno-sign-conversion -Wno-non-virtual-dtor \
-                   -Wno-unknown-pragmas -Wno-unknown-warning-option \
-                   -Wno-unknown-warning -Wno-undefined-var-template \
-                   -Wno-long-long -Wno-error=maybe-uninitialized \
+                   -Wno-unknown-pragmas -Wno-long-long \
                    -Wno-error=uninitialized -Wno-error=deprecated \
-                   -Wno-error=array-bounds -Wno-error=redundant-move \
-                   -Wno-error=suggest-attribute=noreturn")
+                   -Wno-error=array-bounds -Wno-error=redundant-move")
+    if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        set(WARN_FULL "${WARN_FULL} \
+                       -Wno-undefined-var-template -Wno-unknown-warning-option")
+    elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        set(WARN_FULL "${WARN_FULL} \
+                       -Wno-error=maybe-uninitialized \
+                       -Wno-error=suggest-attribute=noreturn")
+    endif()
 endif()
 
 # Shared libraries need PIC

diff --git a/core/include/jiminy/core/constraints/abstract_constraint.h b/core/include/jiminy/core/constraints/abstract_constraint.h
@@ -12,8 +12,7 @@ namespace jiminy
     class Model;
 
     /// \brief Generic interface for kinematic constraints.
-    class JIMINY_DLLAPI AbstractConstraintBase :
-    public std::enable_shared_from_this<AbstractConstraintBase>
+    class JIMINY_DLLAPI AbstractConstraintBase
     {
         // See AbstractSensor for comment on this.
         friend Model;
@@ -102,9 +101,6 @@ namespace jiminy
     class JIMINY_TEMPLATE_DLLAPI AbstractConstraintTpl : public AbstractConstraintBase
     {
     public:
-        auto shared_from_this() { return shared_from(this); }
-        auto shared_from_this() const { return shared_from(this); }
-
         const std::string & getType() const { return type_; }
 
     public:

diff --git a/core/include/jiminy/core/constraints/distance_constraint.h b/core/include/jiminy/core/constraints/distance_constraint.h
@@ -24,14 +24,12 @@ namespace jiminy
     public:
         JIMINY_DISABLE_COPY(DistanceConstraint)
 
-        auto shared_from_this() { return shared_from(this); }
-
     public:
         explicit DistanceConstraint(const std::string & firstFrameName,
                                     const std::string & secondFrameName) noexcept;
         virtual ~DistanceConstraint() = default;
 
-        const std::array<std::string, 2> & getFramesNames() const noexcept;
+        const std::array<std::string, 2> & getFrameNames() const noexcept;
         const std::array<pinocchio::FrameIndex, 2> & getFrameIndices() const noexcept;
 
         void setReferenceDistance(double distanceRef);

diff --git a/core/include/jiminy/core/constraints/frame_constraint.h b/core/include/jiminy/core/constraints/frame_constraint.h
@@ -25,8 +25,6 @@ namespace jiminy
     public:
         JIMINY_DISABLE_COPY(FrameConstraint)
 
-        auto shared_from_this() { return shared_from(this); }
-
     public:
         /// \param[in] frameName Name of the frame on which the constraint is to be
         /// applied.

diff --git a/core/include/jiminy/core/constraints/joint_constraint.h b/core/include/jiminy/core/constraints/joint_constraint.h
@@ -24,8 +24,6 @@ namespace jiminy
     public:
         JIMINY_DISABLE_COPY(JointConstraint)
 
-        auto shared_from_this() { return shared_from(this); }
-
     public:
         /// \param[in] jointName Name of the joint.
         explicit JointConstraint(const std::string & jointName) noexcept;
@@ -38,7 +36,7 @@ namespace jiminy
         const Eigen::VectorXd & getReferenceConfiguration() const noexcept;
 
         void setRotationDir(bool isReversed) noexcept;
-        bool getRotationDir() noexcept;
+        bool getRotationDir() const noexcept;
 
         virtual void reset(const Eigen::VectorXd & q, const Eigen::VectorXd & v) override final;
 

diff --git a/core/include/jiminy/core/constraints/sphere_constraint.h b/core/include/jiminy/core/constraints/sphere_constraint.h
@@ -28,8 +28,6 @@ namespace jiminy
     public:
         JIMINY_DISABLE_COPY(SphereConstraint)
 
-        auto shared_from_this() { return shared_from(this); }
-
     public:
         /// \param[in] frameName Name of the frame representing the center of the sphere.
         /// \param[in] sphereRadius Radius of the sphere (in m).
@@ -42,6 +40,9 @@ namespace jiminy
         const std::string & getFrameName() const noexcept;
         pinocchio::FrameIndex getFrameIndex() const noexcept;
 
+        double getRadius() const noexcept;
+        const Eigen::Vector3d & getNormal() const noexcept;
+
         void setReferenceTransform(const pinocchio::SE3 & transformRef) noexcept;
         const pinocchio::SE3 & getReferenceTransform() const noexcept;
 

diff --git a/core/include/jiminy/core/constraints/wheel_constraint.h b/core/include/jiminy/core/constraints/wheel_constraint.h
@@ -28,8 +28,6 @@ namespace jiminy
     public:
         JIMINY_DISABLE_COPY(WheelConstraint)
 
-        auto shared_from_this() { return shared_from(this); }
-
     public:
         /// \param[in] frameName Name of the frame representing the center of the wheel.
         /// \param[in] wheelRadius Radius of the wheel (in m).
@@ -41,6 +39,10 @@ namespace jiminy
                         const Eigen::Vector3d & wheelAxis) noexcept;
         virtual ~WheelConstraint() = default;
 
+        double getRadius() const noexcept;
+        const Eigen::Vector3d & getNormal() const noexcept;
+        const Eigen::Vector3d & getWheelAxis() const noexcept;
+
         const std::string & getFrameName() const noexcept;
         pinocchio::FrameIndex getFrameIndex() const noexcept;
 

diff --git a/core/include/jiminy/core/hardware/abstract_motor.h b/core/include/jiminy/core/hardware/abstract_motor.h
@@ -32,7 +32,7 @@ namespace jiminy
         std::size_t num_;
     };
 
-    class JIMINY_DLLAPI AbstractMotorBase : public std::enable_shared_from_this<AbstractMotorBase>
+    class JIMINY_DLLAPI AbstractMotorBase
     {
         /* AKA AbstractSensorBase */
         friend Robot;
@@ -120,6 +120,9 @@ namespace jiminy
         /// \param[in] motorOptions Dictionary with the parameters used for any motor.
         void setOptionsAll(const GenericConfig & motorOptions);
 
+        /// \brief Whether the motor has been attached to a robot.
+        bool getIsAttached() const;
+
         /// \brief Whether the motor has been initialized.
         bool getIsInitialized() const;
 
@@ -192,16 +195,14 @@ namespace jiminy
         /// \brief Reference to the last data buffer corresponding to the true effort of the motor.
         double & data();
 
-        bool isAttached() const;
-
     private:
         /// \brief Attach the sensor to a robot
         ///
         /// \details This method must be called before initializing the sensor.
-        void attach(std::weak_ptr<const Robot> robot,
-                    std::function<void(
-                        AbstractMotorBase & /*motor*/, bool /*hasChanged*/)> notifyRobot,
-                    MotorSharedStorage * sharedStorage);
+        void attach(
+            std::weak_ptr<const Robot> robot,
+            std::function<void(AbstractMotorBase & /*motor*/, bool /*hasChanged*/)> notifyRobot,
+            MotorSharedStorage * sharedStorage);
 
         /// \brief Detach the sensor from the robot.
         void detach();

diff --git a/core/include/jiminy/core/hardware/abstract_sensor.h b/core/include/jiminy/core/hardware/abstract_sensor.h
@@ -48,8 +48,7 @@ namespace jiminy
     /// \brief Generic interface for any sensor.
     ///
     /// \details Any sensor must inherit from this base class and implement its virtual methods.
-    class JIMINY_DLLAPI AbstractSensorBase :
-    public std::enable_shared_from_this<AbstractSensorBase>
+    class JIMINY_DLLAPI AbstractSensorBase
     {
         /* Using friend to avoid double delegation, which would make public the attach, whereas
            only robot is able to call it.
@@ -182,15 +181,15 @@ namespace jiminy
         ///         higher dimensional tensor.
         virtual Eigen::Ref<const Eigen::VectorXd> get() const = 0;
 
+        /// \brief Whether the sensor has been attached to a robot.
+        bool getIsAttached() const;
+
         /// \brief Whether the sensor has been initialized.
         ///
         /// \remark Note that a sensor can be considered initialized even if its telemetry is not
         ///         properly configured. If not, it must be done before being ready to use.
         bool getIsInitialized() const;
 
-        /// \brief Whether the sensor has been attached to a robot.
-        bool getIsAttached() const;
-
         /// \brief Whether the telemetry of the controller has been initialized.
         bool getIsTelemetryConfigured() const;
 
@@ -323,9 +322,6 @@ namespace jiminy
         using AbstractSensorBase::AbstractSensorBase;
         virtual ~AbstractSensorTpl();
 
-        auto shared_from_this() { return shared_from(this); }
-        auto shared_from_this() const { return shared_from(this); }
-
         void resetAll(uint32_t seed) override final;
         void updateTelemetryAll() override final;
 

diff --git a/core/include/jiminy/core/hardware/basic_motors.h b/core/include/jiminy/core/hardware/basic_motors.h
@@ -72,9 +72,6 @@ namespace jiminy
         explicit SimpleMotor(const std::string & name) noexcept;
         virtual ~SimpleMotor() = default;
 
-        auto shared_from_this() { return shared_from(this); }
-        auto shared_from_this() const { return shared_from(this); }
-
         void initialize(const std::string & jointName);
 
         void setOptions(const GenericConfig & motorOptions) override;

diff --git a/core/include/jiminy/core/hardware/basic_sensors.h b/core/include/jiminy/core/hardware/basic_sensors.h
@@ -24,8 +24,6 @@ namespace jiminy
     public:
         using AbstractSensorTpl<ImuSensor>::AbstractSensorTpl;
 
-        auto shared_from_this() { return shared_from(this); }
-
         void initialize(const std::string & frameName);
 
         void setOptions(const GenericConfig & sensorOptions) override;
@@ -64,8 +62,6 @@ namespace jiminy
     public:
         using AbstractSensorTpl<ContactSensor>::AbstractSensorTpl;
 
-        auto shared_from_this() { return shared_from(this); }
-
         void initialize(const std::string & frameName);
 
         void setOptions(const GenericConfig & sensorOptions) override;
@@ -102,8 +98,6 @@ namespace jiminy
     public:
         using AbstractSensorTpl<ForceSensor>::AbstractSensorTpl;
 
-        auto shared_from_this() { return shared_from(this); }
-
         void initialize(const std::string & frameName);
 
         void setOptions(const GenericConfig & sensorOptions) override;
@@ -143,8 +137,6 @@ namespace jiminy
     public:
         using AbstractSensorTpl<EncoderSensor>::AbstractSensorTpl;
 
-        auto shared_from_this() { return shared_from(this); }
-
         void initialize(const std::string & jointName);
 
         void setOptions(const GenericConfig & sensorOptions) override;
@@ -182,8 +174,6 @@ namespace jiminy
     public:
         using AbstractSensorTpl<EffortSensor>::AbstractSensorTpl;
 
-        auto shared_from_this() { return shared_from(this); }
-
         void initialize(const std::string & motorName);
 
         void setOptions(const GenericConfig & sensorOptions) override;

diff --git a/core/include/jiminy/core/io/serialization.h b/core/include/jiminy/core/io/serialization.h
@@ -1,6 +1,80 @@
 #ifndef JIMINY_SERIALIZATION_H
 #define JIMINY_SERIALIZATION_H
 
+#include <optional>  // `std::optional`
+#include <string>    // `std::string`
+#include <vector>    // `std::vector`
+#include <memory>    // `std::shared_ptr`
+
+#include "jiminy/core/fwd.h"
+
+
+// Forward declarations
+namespace pinocchio
+{
+    struct GeometryObject;
+    struct GeometryModel;
+}
+
+namespace jiminy
+{
+    class Model;
+    class Robot;
+
+    class stateful_binary_iarchive;
+    class stateful_binary_oarchive;
+}
+
+/* Jiminy-specific API for saving and loading data to binary format.
+   Internally, it leverages `boost::serialization`, but unlike the classic interface `serialize`,
+   it can be specified to pass option arguments, which allows for providing opt-in storage
+   optimizations and recovery information when loading partially corrupted data. */
+namespace jiminy
+{
+    template<typename T>
+    std::string saveToBinary(const T & obj);
+
+    template<typename T>
+    void loadFromBinary(T & obj, const std::string & data);
+
+    std::string saveToBinary(const std::shared_ptr<jiminy::Robot> & robot,
+                             bool isPersistent = true);
+
+    void loadFromBinary(std::shared_ptr<jiminy::Robot> & robot,
+                        const std::string & data,
+                        const std::optional<std::string> & meshPathDir = std::nullopt,
+                        const std::vector<std::string> & meshPackageDirs = {});
+}
+
+/* Partial specialization of `boost::serialization` API to enable serialization of complex classes.
+   Unlike `loadFromBinary`, `saveToBinary`, this API does not expose mechanics to customize its
+   internal, so the most conservation assumptions are made, eventually impeding performance. */
+namespace boost::serialization
+{
+    // *************************************** pinocchio *************************************** //
+
+    template<class Archive>
+    void load_construct_data(
+        Archive & ar, pinocchio::GeometryObject * geomPtr, const unsigned int version);
+
+    template<class Archive>
+    void serialize(Archive & ar, pinocchio::GeometryObject & geom, const unsigned int version);
+
+    template<class Archive>
+    void serialize(Archive & ar, pinocchio::GeometryModel & model, const unsigned int version);
+
+    // ***************************************** jiminy **************************************** //
+
+    template<class Archive>
+    void serialize(Archive & ar, jiminy::Model & model, const unsigned int version);
+
+    template<class Archive>
+    void load_construct_data(Archive & ar, jiminy::Robot * robotPtr, const unsigned int version);
+
+    template<class Archive>
+    void serialize(Archive & ar, jiminy::Robot & robot, const unsigned int version);
+}
+
 #include "jiminy/core/io/serialization.hxx"
 
 #endif  // JIMINY_SERIALIZATION_H