Jiminy 1.7.4 (#444)

* [core] Implement friction cone for impulse model. (#440) * [core] Fix numerical instability of flexibility model by adding armature-like inertia parameter. (#433) * [core] Full support of armature for all joints but mimic. * [core] Rename 'pncCollisionData' in 'collisionData' and 'pncModelRigidOrig_' in 'pncModelOrig_' since already clear. * [core] Fix some implicit type conversions. * [python/robot] Fix default hardware config file generator is both collision and visual meshes are defined. * [python/viewer] Add physic based rendering of materials to panda3d. * [python/viewer] Fix shadow casting area smaller than floor in panda3d. * [python/viewer] Fix window name not set properly in panda3d. * [python/viewer] Change direction of lighting in panda3d to fell natural for default camera pose. * [python/viewer] Enhanced rendering in panda3d for discrete gpu. * [python/viewer] Render meshes two-sided in panda3d to avoid seeing through them. * [gym/rllib] Add option to forward keyword arguments to 'ray.init'. (#436) * [misc] Update Python dependencies. * [misc] Update Boost from 1.7.1 to 1.7.6. * [misc] Build OSX wheels. (#442) Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
duburcqa · Nov 12, 2021 · 79dfb00 · 79dfb00
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diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -55,7 +55,7 @@ jobs:
         git config --global advice.detachedHead false
     - name: Build project dependencies
       run: |
-        ./build_tools/build_install_deps_linux.sh
+        ./build_tools/build_install_deps_unix.sh
         "${PYTHON_EXECUTABLE}" -m pip install torch==1.8.0+cpu -f https://download.pytorch.org/whl/torch_stable.html
         "${PYTHON_EXECUTABLE}" -m pip install "gym>=0.18.3" "stable_baselines3>=0.10" "importlib-metadata>=3.3.0"
 
@@ -72,21 +72,21 @@ jobs:
 
         mkdir "$RootDir/build"
         cd "$RootDir/build"
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DBOOST_ROOT="$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 \
-              -DCMAKE_CXX_FLAGS="-fPIC" \
+              -DCMAKE_CXX_FLAGS="-fPIC -DBOOST_BIND_GLOBAL_PLACEHOLDERS" \
               -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make install -j2
 
     #####################################################################################
 
     - name: Build extension module
       run: |
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
 
         "$InstallDir/bin/jiminy_double_pendulum"
 
@@ -101,7 +101,7 @@ jobs:
 
     - name: Run unit tests
       run: |
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
 
         ./build/unit/unit
 

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -0,0 +1,144 @@
+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-linux:
+    name: >-
+      (${{ matrix.os }}) (${{ matrix.PYTHON_VERSION }})
+      Build and run the unit tests. Then generate and publish the wheels on PyPi.
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      matrix:
+        os: [macos-10.15, macos-11]
+        PYTHON_VERSION: ['3.6', '3.7', '3.8', '3.9']
+        exclude:
+          - os: macos-11
+            PYTHON_VERSION: '3.6'
+          - os: macos-11
+            PYTHON_VERSION: '3.7'
+
+    defaults:
+      run:
+        shell: bash -ieo pipefail {0}  # Using bash enables automatic sourcing `.bashrc` and fail-fast behavior
+
+    env:
+      BUILD_TYPE: "Release"
+      MACOSX_DEPLOYMENT_TARGET: "10.9"
+
+    #####################################################################################
+
+    steps:
+    - name: Checkout jiminy
+      uses: actions/checkout@v2
+
+    #####################################################################################
+
+    - name: Configure Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.PYTHON_VERSION }}
+        architecture: 'x64'
+    - name: Setup minimal build environment
+      run: |
+        git config --global advice.detachedHead false
+
+        PYTHON_EXECUTABLE="${pythonLocation}/bin/python${PYTHON_VERSION}"
+        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
+        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
+        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
+
+        if [ "${{ matrix.os }}" == "macos-10.15" ] ; then
+          echo "OSX_ARCHITECTURES=x86_64" >> $GITHUB_ENV
+          echo "WHEEL_ARCH=x86_64" >> $GITHUB_ENV
+        else
+          echo "OSX_ARCHITECTURES=x86_64;arm64" >> $GITHUB_ENV
+          echo "WHEEL_ARCH=universal2" >> $GITHUB_ENV
+        fi
+
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel delocate
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
+    - name: Build project dependencies
+      run: |
+        MACOSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
+          ./build_tools/build_install_deps_unix.sh
+        "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary "gym>=0.18.3" "stable_baselines3>=0.10" "importlib-metadata>=3.3.0"
+
+    #####################################################################################
+
+    - name: Build and install Jiminy
+      run: |
+        unset Boost_ROOT
+
+        mkdir "$RootDir/build"
+        cd "$RootDir/build"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
+        cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \
+              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+              -DBOOST_ROOT="$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 \
+              -DCMAKE_CXX_FLAGS="-fPIC" \
+              -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+        make -j2
+
+        mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
+        cp -R -H "$InstallDir/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \
+                 "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"
+        find "$RootDir/build/pypi/" -name "*.so*" -exec strip -S -x -r -v {} +
+
+        make install
+
+    #####################################################################################
+
+    - name: Generate and install Python Pip wheels
+      run: |
+        export DYLD_LIBRARY_PATH="$InstallDir/lib"
+
+        cd "$RootDir/build"
+        cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
+
+        delocate-wheel --require-archs "${WHEEL_ARCH}" \
+                       -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
+        delocate-addplat --rm-orig -p "macosx_${MACOSX_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: success() && github.repository == 'duburcqa/jiminy'
+      uses: actions/upload-artifact@v1
+      with:
+        name: jiminy_py-${{ matrix.PYTHON_VERSION }}-wheel
+        path: build/wheelhouse
+
+    #####################################################################################
+
+    - name: Run unit tests
+      run: |
+        ./build/unit/unit
+
+        # The access to hpp-fcl shapes is not working for some reason, so that doing
+        # `collision_model.geometryObjects[0].geometry.clone()` is failing. It is
+        # probably an issue with boost python and it is not related to jiminy.
+        cd "$RootDir/unit_py"
+        #"${PYTHON_EXECUTABLE}" -m unittest discover -v
+
+    #####################################################################################
+
+    - name: Publish on PyPi the wheel for Linux of jiminy_py
+      if: >-
+        success() &&
+        github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
+      uses: pypa/gh-action-pypi-publish@master
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_DEPLOY }}
+        packages_dir: build/wheelhouse
diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -49,23 +49,23 @@ jobs:
         echo "export PATH=\"${pythonLocation}/bin:\$PATH\"" >> $HOME/.bashrc
         source $HOME/.bashrc
 
+        git config --global advice.detachedHead false
+
         PYTHON_EXECUTABLE="${pythonLocation}/bin/python"
+        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
+        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
+        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
+
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel auditwheel cmake
         if [ "${{ matrix.legacy }}" == true ] ; then
           "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.20"
         else
           "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
         fi
-        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
-
-        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
-        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
-
-        git config --global advice.detachedHead false
     - name: Build project dependencies
       run: |
-        ./build_tools/build_install_deps_linux.sh
+        ./build_tools/build_install_deps_unix.sh
         "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary "gym>=0.18.3" "stable_baselines3>=0.10" "importlib-metadata>=3.3.0"
 
     #####################################################################################
@@ -95,6 +95,8 @@ jobs:
 
         make install
 
+    #####################################################################################
+
     - name: Generate and install Python Pip wheels
       run: |
         export LD_LIBRARY_PATH="$InstallDir/lib:/usr/local/lib"
@@ -105,8 +107,8 @@ jobs:
         # Note that `--strip` option is not used but rather done manually because the
         # built-in option corrupts the shared library for some reason...
         "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_repair_linux.py" repair \
-            -w "$RootDir/build/wheelhouse" "$RootDir"/build/pypi/dist/jiminy_py/*.whl
-        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir"/build/wheelhouse/*.whl
+            -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
+        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir/build/wheelhouse/"*.whl
     - name: Upload the wheel for Linux of Jiminy_py
       if: success() && github.repository == 'duburcqa/jiminy'
       uses: actions/upload-artifact@v1

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -117,7 +117,7 @@ jobs:
             $wheel_path = ($_.FullName)
             python -m pip install --force-reinstall --no-deps $wheel_path
         }
-    - name: Upload the wheel for Windows of Jiminy_py
+    - name: Upload the wheel for Windows of jiminy_py
       if: success() && github.repository == 'duburcqa/jiminy'
       uses: actions/upload-artifact@v1
       with:
@@ -164,7 +164,7 @@ jobs:
 #########################################################################################
 
   publish-pypi-win10:
-    name: (Windows) Publish on PyPi the wheel for Windows of Jiminy_py
+    name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py
     needs: build-and-test-win10
     runs-on: ubuntu-20.04
     if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.7.3)
+set(BUILD_VERSION 1.7.4)
 
 # Set compatibility
 if(CMAKE_VERSION VERSION_GREATER "3.11.0")

diff --git a/INSTALL.md b/INSTALL.md
@@ -110,7 +110,7 @@ python -m pip install "numpy<1.20"
 Just run the bash script already available.
 
 ```
-BUILD_TYPE="Release" ./build_tools/build_install_deps_linux.sh
+BUILD_TYPE="Release" ./build_tools/build_install_deps_unix.sh
 ```
 
 ### Build Procedure

diff --git a/README.md b/README.md
@@ -27,7 +27,7 @@ Beside a strong focus on performance to answer machine learning's need for runni
 - Dedicated integration in Google Colab, Jupyter Lab, and VSCode working out-of-the-box - including interactive 3D viewer based on [Meshcat](https://github.com/rdeits/MeshCat.jl). This facilitates working on remote headless environnement such as machine learning clusters.
 - Cross-platform offscreen rendering capability, without requiring X-server, based on [Panda3d](https://github.com/panda3d/panda3d).
 - Rich simulation log output, easily customizable for recording, introspection and debugging. The simulation log is made available in RAM directly for fast access, and can be exported in raw binary, CSV or [HDF5](https://portal.hdfgroup.org/display/HDF5/Introduction+to+HDF5) format.
-- Available for both Linux and Windows platforms.
+- Support Linux, Mac and Windows platforms.
 
 ### Physics
 
@@ -52,7 +52,7 @@ Pre-configured environments for some well-known toys models and reference roboti
 
 ## Demo
 
-<a href="./examples/tutorial.ipynb">
+<a href="./examples/python/tutorial.ipynb">
 <p align="middle">
   <img src="https://raw.github.com/duburcqa/jiminy/readme/jiminy_plot_log.png" alt="" width="49.0%"/>
   <img src="https://raw.github.com/duburcqa/jiminy/readme/jiminy_viewer_open.png" alt="" width="49.0%"/>
@@ -65,7 +65,7 @@ Pre-configured environments for some well-known toys models and reference roboti
 
 ## Getting started
 
-Jiminy and Gym Jiminy are compatible with Linux and Windows, and supports Python3.6+. They are distributed on PyPi for Python 3.6/3.7/3.8/3.9 for both platform, so they can be installed using `pip`:
+Jiminy and Gym Jiminy support Linux, Mac and Windows, and is compatible with Python3.6+. Pre-compiled binaries are distributed on PyPi for Python 3.6/3.7/3.8/3.9. They can be installed using `pip`:
 
 ```bash
 # For installing Jiminy