Various minor fixes.

.github/workflows/linux.yml

@@ -47,7 +47,7 @@ jobs:
 
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade wheel
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.22"  # for numba compat.
 
         echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV

.github/workflows/macos.yml

@@ -66,7 +66,7 @@ jobs:
 
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel delocate
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.22"  # for numba compat.
     - name: Build project dependencies
       run: |
         MACOSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \

.github/workflows/manylinux.yml

@@ -59,9 +59,9 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel auditwheel cmake
         if [ "${{ matrix.legacy }}" == true ] ; then
-          "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.20"
+          "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.20"  # for tensorflow compat.
         else
-          "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
+          "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.22"  # for numba compat.
         fi
     - name: Build project dependencies
       run: |

.github/workflows/ubuntu.yml

@@ -51,7 +51,7 @@ jobs:
       run: |
         sudo env "PATH=$PATH" "${GITHUB_WORKSPACE}/build_tools/easy_install_deps_ubuntu.sh"
         "${PYTHON_EXECUTABLE}" -m pip install tensorflow
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.22"  # for numba compat.
         "${PYTHON_EXECUTABLE}" -m pip install "torch==1.8.0+cpu" -f https://download.pytorch.org/whl/torch_stable.html
         "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary "gym>=0.18.3" "stable_baselines3>=0.10" "importlib-metadata>=3.3.0"
 

.github/workflows/win.yml

@@ -45,7 +45,7 @@ jobs:
         git config --global advice.detachedHead false
         python -m pip install --upgrade pip
         python -m pip install --upgrade wheel pefile machomachomangler
-        python -m pip install --upgrade numpy
+        python -m pip install --upgrade "numpy<1.22"  # for numba compat.
         python -m pip uninstall -y pipx  # Uninstall unecessary packages causing conflicts with the new resolver
     - name: Build project dependencies
       run: |

build_tools/easy_install_deps_ubuntu.sh

@@ -53,7 +53,7 @@ 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 "numpy>=1.16,<1.22"
 
 # 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 && \

core/include/jiminy/core/robot/PinocchioOverloadAlgorithms.h

@@ -60,7 +60,7 @@ namespace pinocchio_overload
          pinocchio::container::aligned_vector<ForceDerived>     const & fext)
     {
         (void) pinocchio::rnea(model, data, q, v, a, fext);
-        data.tau += model.rotorInertia.asDiagonal() * a;
+        data.tau.array() += model.rotorInertia.array() * a.array();
         return data.tau;
     }
 

python/gym_jiminy/common/gym_jiminy/common/controllers/proportional_derivative.py

@@ -1,6 +1,7 @@
 """Implementation of basic Proportional-Derivative controller block compatible
 with gym_jiminy reinforcement learning pipeline environment design.
 """
+# pylint: disable=cyclic-import
 from collections import OrderedDict
 from typing import Union, Any, List
 

python/jiminy_py/src/jiminy_py/core/_pinocchio_init.py

@@ -2,7 +2,7 @@
 
 
 # Use numpy array by default for Eigenpy and Pinocchio incidentally
-__import__('eigenpy').switchToNumpyArray()
+__import__("eigenpy").switchToNumpyArray()
 
 
 # Do not load the geometry of the ground is is not an actually geometry but