[gym_jiminy/common] Add 'BodyObserver' to get orientation and angular velocity of IMUs' parent bodies. #2117
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| 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-osx: | |
| name: >- | |
| (${{ matrix.OS }}) (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }}) | |
| Build and run the unit tests. Then generate and publish the wheels on PyPi. | |
| strategy: | |
| matrix: | |
| OS: ['macos-15'] # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64) | |
| PYTHON_VERSION: ['3.10', '3.11', '3.12'] # `setup-python` does not support Python<3.10 on Apple Silicon | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - OS: 'macos-13' | |
| PYTHON_VERSION: '3.10' | |
| BUILD_TYPE: 'Release' | |
| - OS: 'macos-15' | |
| PYTHON_VERSION: '3.12' | |
| BUILD_TYPE: 'Debug' | |
| LINKER_FLAGS: '-Wl,-ld_classic' # New "ld_prime" linker (XCode 15+) causes build failures | |
| runs-on: ${{ matrix.OS }} | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| C_COMPILER: "/usr/bin/clang" | |
| CXX_COMPILER: "/usr/bin/clang++" | |
| CXX_FLAGS: "-DEIGEN_MPL2_ONLY -Wno-deprecated-declarations" | |
| OSX_DEPLOYMENT_TARGET: "11.0" | |
| OSX_ARCHITECTURES: "x86_64;arm64" | |
| WHEEL_ARCH: "universal2" | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| ##################################################################################### | |
| - name: Configure Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| - name: Setup minimal build environment | |
| run: | | |
| git config --global advice.detachedHead false | |
| PYTHON_EXECUTABLE="${pythonLocation}/bin/python3" | |
| echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV | |
| echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV | |
| # FIXME: Panda3d software rendering is partially broken on Apple Silicon | |
| if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then | |
| echo "JIMINY_PANDA3D_FORCE_TINYDISPLAY=" >> $GITHUB_ENV | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3" | |
| "${PYTHON_EXECUTABLE}" -m pip install delocate twine | |
| - name: Install pre-compiled binaries for additional gym-jiminy dependencies | |
| if: matrix.PYTHON_VERSION != '3.13' | |
| run: | | |
| "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch | |
| "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0,<2.4" | |
| - name: Install latest numpy version at build-time for run-time binary compatibility | |
| run: | | |
| if [[ "${{ matrix.BUILD_TYPE }}" != 'Debug' && "${{ matrix.OS }}" != 'macos-13' ]] ; then | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch | |
| else | |
| # FIXME: torch on MacOS x86 for Python 3.10 does not support Numpy 2.X | |
| # but does not enforce such restriction in requirements. | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24,<2.0" numba torch | |
| fi | |
| - name: Build jiminy dependencies | |
| run: | | |
| OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \ | |
| LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" BUILD_TYPE="${{ matrix.BUILD_TYPE }}" \ | |
| ./build_tools/build_install_deps_unix.sh | |
| ##################################################################################### | |
| - name: Build and install Jiminy | |
| run: | | |
| unset Boost_ROOT | |
| # Build jiminy | |
| mkdir "${RootDir}/build" | |
| cd "${RootDir}/build" | |
| export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib" | |
| cmake "${RootDir}" -Wdev \ | |
| -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \ | |
| -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \ | |
| -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \ | |
| -DBOOST_ROOT="${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 \ | |
| -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \ | |
| -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| make -j4 | |
| # Bundle the boost python dependencies with jiminy | |
| mkdir -p "${RootDir}/build/pypi/jiminy_py/src/jiminy_py" | |
| cp -R -H "${InstallDir}/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \ | |
| "${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core" | |
| # Install jiminy along with its dependencies | |
| make install | |
| # Strip all symbol table and relocation information from python bindings and shared libraries | |
| find "${RootDir}/build/pypi/" -name "*.so" -print -exec strip -x {} + | |
| find "${InstallDir}/lib" -name "*.dylib" -maxdepth 1 -print -exec strip -x {} + | |
| ##################################################################################### | |
| - name: Generate and install Python Pip wheels | |
| run: | | |
| export LD_LIBRARY_PATH="${InstallDir}/lib:${DYLD_LIBRARY_PATH}" | |
| export DYLD_FALLBACK_LIBRARY_PATH="${LD_LIBRARY_PATH}" | |
| # Generate stubs | |
| if [[ "${{ matrix.BUILD_TYPE }}" != 'Debug' && "${{ matrix.OS }}" != 'macos-13' ]] ; then | |
| # FIXME: stubgen does not work with Numpy 2.X | |
| # (see https://github.com/python/mypy/issues/17396) | |
| "${PYTHON_EXECUTABLE}" -m pip install "numpy<2.0" | |
| stubgen -p jiminy_py -o ${RootDir}/build/pypi/jiminy_py/src | |
| # FIXME: Python 3.10 crashes when generating stubs without any backtrace... | |
| if [[ "${{ matrix.PYTHON_VERSION }}" != '3.10' ]] ; then | |
| # lldb --batch -o "settings set target.process.stop-on-exec false" \ | |
| # -o "break set -n main" -o "run" -k "bt" -k "quit" -- \ | |
| "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/stubgen.py" \ | |
| -o ${RootDir}/build/stubs --ignore-invalid=all jiminy_py | |
| cp ${RootDir}/build/stubs/jiminy_py-stubs/core/__init__.pyi \ | |
| ${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch | |
| fi | |
| # Generate wheels | |
| cd "${RootDir}/build" | |
| cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake | |
| # Bundle non-standard dependencies with the wheels | |
| delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \ | |
| -w "${RootDir}/build/wheelhouse" "${RootDir}/build/pypi/dist/jiminy_py/"*.whl | |
| "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \ | |
| -p "macosx_${OSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl | |
| "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl | |
| - name: Upload the wheel for Linux of jiminy_py | |
| if: matrix.BUILD_TYPE != 'Debug' && matrix.OS != 'macos-13' | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheelhouse-${{ matrix.PYTHON_VERSION }} | |
| path: build/wheelhouse | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib" | |
| "${InstallDir}/bin/jiminy_double_pendulum" | |
| mkdir -p "${RootDir}/core/examples/external_project/build" | |
| cd "${RootDir}/core/examples/external_project/build" | |
| cmake "${RootDir}/core/examples/external_project/" \ | |
| -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \ | |
| -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \ | |
| -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \ | |
| -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \ | |
| -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| make install | |
| "${InstallDir}/bin/pip_double_pendulum" | |
| ##################################################################################### | |
| - name: Run unit tests for jiminy | |
| run: | | |
| export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib" | |
| ctest --output-on-failure --test-dir "${RootDir}/build/core/unit" | |
| cd "${RootDir}/python/jiminy_py/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -v | |
| - name: Run unit tests for gym jiminy base module | |
| run: | | |
| export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib" | |
| if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then | |
| export JIMINY_BUILD_DEBUG= | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v | |
| - name: Run examples for gym jiminy add-on modules | |
| if: matrix.BUILD_TYPE != 'Debug' | |
| run: | | |
| export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib" | |
| cd "${RootDir}/python/gym_jiminy/examples/rllib" | |
| "${PYTHON_EXECUTABLE}" acrobot_ppo.py | |
| ######################################################################################### | |
| publish-pypi-macos: | |
| name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py | |
| runs-on: ubuntu-24.04 | |
| permissions: | |
| id-token: write | |
| needs: build-and-test-osx | |
| if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master' | |
| steps: | |
| - name: Download the wheel previously generated | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: wheelhouse-* | |
| merge-multiple: true | |
| path: wheelhouse | |
| - name: Publish the wheel | |
| uses: pypa/gh-action-pypi-publish@v1.10.3 | |
| with: | |
| packages-dir: wheelhouse | |
| verify-metadata: false |