numpy: Require NumPy >= 0.15.0

bindings/pydrake/BUILD.bazel

@@ -43,7 +43,10 @@ drake_py_library(
         # We use `common:_init_py` to avoid dependency cycles.
         "//bindings:bazel_workaround_4594_libdrake_py",
         "//bindings/pydrake/common:_init_py",
+        "//bindings/pydrake/util:compatibility_py",
         "//bindings/pydrake/util:deprecation_py",
+        # Ensure the correct version of `numpy` is used throughout `pydrake`.
+        "@numpy_py",
     ],
 )
 

bindings/pydrake/__init__.py

@@ -30,9 +30,11 @@
 # We specifically load `common` prior to loading any other pydrake modules,
 # in order to get assertion configuration done as early as possible.
 from . import common
+from .util.compatibility import check_required_numpy_version
 from .util.deprecation import ModuleShim
 
 __all__ = ['common', 'getDrakePath']
+check_required_numpy_version()
 common.set_assertion_failure_to_throw_exception()
 
 

bindings/pydrake/autodiffutils_py.cc

@@ -17,7 +17,7 @@ namespace pydrake {
 PYBIND11_MODULE(autodiffutils, m) {
   m.doc() = "Bindings for Eigen AutoDiff Scalars";
 
-  // Install NumPy warning filtres.
+  // Install NumPy warning filters.
   // N.B. This may interfere with other code, but until that is a confirmed
   // issue, we should aggressively try to avoid these warnings.
   py::module::import("pydrake.util.deprecation")

bindings/pydrake/common/BUILD.bazel

@@ -43,6 +43,8 @@ drake_pybind_library(
     cc_so_name = "_module_py",
     cc_srcs = ["module_py.cc"],
     package_info = PACKAGE_INFO,
+    # Ensure the correct version of `numpy` is used throughout `pydrake`.
+    py_deps = ["@numpy_py"],
     py_srcs = [
         "__init__.py",
     ],
@@ -87,6 +89,8 @@ drake_py_library(
     name = "deprecation_py",
     srcs = ["deprecation.py"],
     imports = PACKAGE_INFO.py_imports,
+    # `:module_py` consumes this, so use `_init_py` instead.
+    deps = [":_init_py"],
 )
 
 # N.B. Since `module_py` incorporates `deprecation_py`, C++ Python libraries
@@ -225,7 +229,9 @@ drake_py_library(
     name = "compatibility_py",
     srcs = ["compatibility.py"],
     deps = [
-        ":module_py",
+        # `:module_py` consumes this, so use `_init_py` instead.
+        ":_init_py",
+        ":deprecation_py",
     ],
 )
 

bindings/pydrake/common/compatibility.py

@@ -1,58 +1,34 @@
 """Contains routines to monkey patch or provide alternatives to upstream code
-which may need changes for compatibility.
+which may need changes for compatibility, or check versions.
 """
 
 import numpy as np
+from numpy.lib import NumpyVersion
 
-_numpy_version = np.lib.NumpyVersion(np.version.version)
-_patches = {
-    'numpy_formatters': {
-        'applied': False,
-        'required': _numpy_version < np.lib.NumpyVersion('1.13.0'),
-    },
-}
+from pydrake.common.deprecation import _warn_deprecated
 
 
-def _defer_callable_type(cls):
-    # Makes a type, which is meant to purely callable, and defers its
-    # construction until it needs to be called.
+def check_required_numpy_version(_actual=np.version.version):
+    """Fails fast if a minimum version of NumPy is not present.
 
-    class Deferred(object):
-        def __init__(self, *args, **kwargs):
-            self._args = args
-            self._kwargs = kwargs
-            self._obj = None
+    pydrake requires NumPy >= 0.15.0 namely for the following patches:
+        https://github.com/numpy/numpy/pull/10898
+        https://github.com/numpy/numpy/pull/11076
 
-        def _get_obj(self):
-            if self._obj is None:
-                self._obj = cls(*self._args, **self._kwargs)
-            return self._obj
-
-        def __call__(self, *args, **kwargs):
-            return self._get_obj().__call__(*args, **kwargs)
-
-    return Deferred
+    If Drake uses user-dtypes in lieu of `dtype=object`, then anything that
+    refers to `autodiff` or `symbolic` (e.g. all of `systems`,
+    `multibody`, etc.) could potentially have "random" segfaults.
+    """
+    actual = NumpyVersion(_actual)
+    minimum = NumpyVersion('1.15.0')
+    if actual < minimum:
+        raise RuntimeError(
+            "pydrake requires numpy >= {}, but only {} is present".format(
+                minimum.vstring, actual.vstring))
 
 
 def maybe_patch_numpy_formatters():
-    """Required to permit printing of symbolic array types in NumPy < 1.13.0.
-
-    See #8729 for more information.
-    """
-    # Provides version-dependent monkey-patch which effectively achieves a
-    # portion of https://github.com/numpy/numpy/pull/8963
-    patch = _patches['numpy_formatters']
-    if not patch['required']:
-        return
-    if patch['applied']:
-        return
-    module = np.core.arrayprint
-    defer_callable_types = [
-        'IntegerFormat',
-        'FloatFormat',
-    ]
-    for name in defer_callable_types:
-        original = getattr(module, name)
-        deferred = _defer_callable_type(original)
-        setattr(module, name, deferred)
-    patch['applied'] = True
+    """Deprecated functionality."""
+    _warn_deprecated(
+        "`maybe_patch_numpy_formatters` is no longer needed, and will "
+        "be removed after 2019/01", stacklevel=3)

bindings/pydrake/common/test/compatibility_test.py

@@ -1,33 +1,21 @@
 import pydrake.common.compatibility as mut
 
-import numpy as np
 import unittest
+import warnings
 
-numpy_formatters = mut._patches["numpy_formatters"]
-
-# TODO(eric.cousineau): Try to reproduce NumPy formatter patch with mock types.
-# Even with creating a `MockSymbol` type which returns a `MockFormula` which
-# raises an error on `__nonzero__`, I could not get the error relevant to #8729
-# to trigger via `np.maximum.reduce` (but could trigger the error via
-# `np.max`).
+import numpy as np
 
 
 class TestCompatibility(unittest.TestCase):
-    @unittest.skipIf(not numpy_formatters["required"], "Patch not required")
     def test_numpy_formatters(self):
-        # Ensure that the expected types have been patched with the `Deferred`
-        # type.
-        expect_deferred = [
-            'IntegerFormat',
-            'FloatFormat',
-        ]
-        # Before patching.
-        self.assertFalse(numpy_formatters["applied"])
-        module = np.core.arrayprint
-        for name in expect_deferred:
-            self.assertNotIn("Deferred", str(getattr(module, name)))
-        # Apply patch.
-        mut.maybe_patch_numpy_formatters()
-        self.assertTrue(numpy_formatters["applied"])
-        for name in expect_deferred:
-            self.assertIn("Deferred", str(getattr(module, name)))
+        # Call for backwards compatibility.
+        with warnings.catch_warnings(record=True) as w:
+            mut.maybe_patch_numpy_formatters()
+            self.assertEqual(len(w), 1)
+
+    def test_numpy_version(self):
+        # This should pass nominally.
+        mut.check_required_numpy_version()
+        # Mock in an old version.
+        with self.assertRaises(RuntimeError):
+            mut.check_required_numpy_version(_actual="1.11.0")

bindings/pydrake/symbolic_py.cc

@@ -31,10 +31,6 @@ PYBIND11_MODULE(symbolic, m) {
   py::module::import("pydrake.util.deprecation")
       .attr("install_numpy_warning_filters")();
 
-  // Install NumPy formatters patch.
-  py::module::import("pydrake.util.compatibility")
-      .attr("maybe_patch_numpy_formatters")();
-
   m.doc() =
       "Symbolic variable, variables, monomial, expression, polynomial, and "
       "formula";

setup/ubuntu/16.04/binary_distribution/packages.txt

@@ -32,7 +32,6 @@ libyaml-cpp0.5v5
 python
 python-lxml
 python-matplotlib
-python-numpy
 python-pydot
 python-scipy
 python-six

setup/ubuntu/18.04/binary_distribution/packages.txt

@@ -32,7 +32,6 @@ libyaml-cpp0.5v5
 python
 python-lxml
 python-matplotlib
-python-numpy
 python-pydot
 python-scipy
 python-six

tools/BUILD.bazel

@@ -33,6 +33,9 @@ py_binary(
         "//tools/workspace/drake_visualizer:stub_pydrake",
         "//tools/workspace/drake_visualizer/plugin",
         "@drake_visualizer//:drake_visualizer_python_deps",
+        # TODO(eric.cousineau): Move `numpy_py` dependency to a `vtk` Python
+        # library.
+        "@numpy_py",
         "@optitrack_driver//lcmtypes:py_optitrack_lcmtypes",
     ],
 )

tools/skylark/pybind.bzl

@@ -73,6 +73,10 @@ def pybind_py_library(
         visibility = visibility,
     )
 
+    # Ensure that we're always using our custom NumPy version.
+    if "@numpy_py" not in py_deps:
+        py_deps = py_deps + ["@numpy_py"]
+
     # Add Python library.
     py_library_rule(
         name = py_name,

tools/workspace/BUILD.bazel

@@ -36,6 +36,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "lcmtypes_robotlocomotion",
     "meshcat",
     "meshcat_python",
+    "numpy_py",
     "octomap",
     "osqp",
     "pybind11",

tools/workspace/default.bzl

@@ -43,7 +43,7 @@ load("@drake//tools/workspace/meshcat_python:repository.bzl", "meshcat_python_re
 load("@drake//tools/workspace/mosek:repository.bzl", "mosek_repository")
 load("@drake//tools/workspace/net_sf_jchart2d:repository.bzl", "net_sf_jchart2d_repository")  # noqa
 load("@drake//tools/workspace/nlopt:repository.bzl", "nlopt_repository")
-load("@drake//tools/workspace/numpy:repository.bzl", "numpy_repository")
+load("@drake//tools/workspace/numpy_py:repository.bzl", "numpy_py_repository")
 load("@drake//tools/workspace/octomap:repository.bzl", "octomap_repository")
 load("@drake//tools/workspace/optitrack_driver:repository.bzl", "optitrack_driver_repository")  # noqa
 load("@drake//tools/workspace/org_apache_xmlgraphics_commons:repository.bzl", "org_apache_xmlgraphics_commons_repository")  # noqa
@@ -168,8 +168,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         net_sf_jchart2d_repository(name = "net_sf_jchart2d", mirrors = mirrors)
     if "nlopt" not in excludes:
         nlopt_repository(name = "nlopt")
-    if "numpy" not in excludes:
-        numpy_repository(name = "numpy")
+    if "numpy_py" not in excludes:
+        numpy_py_repository(name = "numpy_py", mirrors = mirrors)
     if "octomap" not in excludes:
         octomap_repository(name = "octomap", mirrors = mirrors)
     if "optitrack_driver" not in excludes:

tools/workspace/mirrors.bzl

@@ -45,9 +45,9 @@ DEFAULT_MIRRORS = {
         "http://maven.ibiblio.org/maven2/{fulljar}",
     ],
     "pypi": [
-        "https://files.pythonhosted.org/packages/source/{p}/{package}/{package}-{version}.tar.gz",  # noqa
-        "https://drake-mirror.csail.mit.edu/pypi/{package}/{package}-{version}.tar.gz",  # noqa
-        "https://s3.amazonaws.com/drake-mirror/pypi/{package}/{package}-{version}.tar.gz",  # noqa
+        "https://files.pythonhosted.org/packages/{pypi_path}/{filename}",  # noqa
+        "https://drake-mirror.csail.mit.edu/pypi/{pypi_path}/{filename}",  # noqa
+        "https://s3.amazonaws.com/drake-mirror/pypi/{pypi_path}/{filename}",  # noqa
     ],
     "vtk": [
         "https://drake-packages.csail.mit.edu/vtk/{archive}",

tools/workspace/numpy_py/BUILD.bazel

@@ -0,0 +1,5 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()