[gym_jiminy/common] Stop relying on 'true' sensor measurements in computations. #4672
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| name: Windows 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-win10: | |
| name: >- | |
| (Windows) (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }}) | |
| Build the dependencies. Build the project and run the unit tests. | |
| runs-on: windows-2022 | |
| defaults: | |
| run: | |
| shell: pwsh | |
| env: | |
| GENERATOR: "Visual Studio 17 2022" | |
| CXX_FLAGS: "/DEIGEN_MPL2_ONLY /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2" | |
| strategy: | |
| matrix: | |
| PYTHON_VERSION: ['3.10', '3.11', '3.12'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - PYTHON_VERSION: '3.12' | |
| BUILD_TYPE: 'Debug' | |
| ##################################################################################### | |
| steps: | |
| - name: Configure Pagefile | |
| uses: al-cheb/configure-pagefile-action@v1.4 | |
| with: | |
| disk-root: "C:" | |
| - name: Create workspace on secondary drive (C:) that has more space | |
| run: | | |
| New-Item -ItemType Directory -Force -Path C:\workspace | |
| New-Item -ItemType Junction -Force -Value C:\workspace -Path "${env:GITHUB_WORKSPACE}/workspace" | |
| - name: Configure Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| with: | |
| path: 'workspace' | |
| ##################################################################################### | |
| - name: Setup minimal build environment | |
| run: | | |
| git config --global advice.detachedHead false | |
| python -m pip install setuptools wheel "pip>=20.3" | |
| python -m pip install pefile machomachomangler | |
| - name: Install pre-compiled binaries for additional gym-jiminy dependencies | |
| if: matrix.PYTHON_VERSION != '3.13' | |
| run: | | |
| python -m pip install "torch" -f https://download.pytorch.org/whl/torch | |
| python -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: | | |
| python -m pip install --upgrade "numpy>=1.24" numba torch | |
| - name: Build jiminy dependencies | |
| run: | | |
| ${env:BUILD_TYPE} = "${{ matrix.BUILD_TYPE }}" | |
| & "./workspace/build_tools/build_install_deps_windows.ps1" | |
| ##################################################################################### | |
| - name: Configure and build jiminy | |
| # FIXME: CMake exits with non-zero code if an error occurred in 'execute_process'. | |
| # Indeed, such errors are expected to occur if some gym_jiminy add-on cannot be | |
| # installed because of missing pre-compiled dependency on Pypi. | |
| continue-on-error: true | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| $InstallDir = "$RootDir/install" | |
| if (Test-Path env:Boost_ROOT) { | |
| Remove-Item env:Boost_ROOT | |
| } | |
| if (-not (Test-Path -PathType Container $RootDir/build)) { | |
| New-Item -ItemType "directory" -Force -Path "$RootDir/build" | |
| } | |
| Set-Location -Path $RootDir/build | |
| cmake "$RootDir" -Wdev -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` | |
| -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" ` | |
| -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" ` | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_VERBOSE_MAKEFILE=ON ` | |
| -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" ` | |
| -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE ` | |
| -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" ` | |
| -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON ` | |
| -DINSTALL_GYM_JIMINY=${{ ((matrix.PYTHON_VERSION == '3.13') && 'OFF') || 'ON' }} ` | |
| -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS} $( | |
| ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $( | |
| ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC" | |
| cmake --build . --target ALL_BUILD --config "${{ matrix.BUILD_TYPE }}" --parallel 4 | |
| if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py")) { | |
| New-Item -ItemType "directory" -Force -Path "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core" | |
| } | |
| Copy-Item -Force -Recurse -Path "$InstallDir/lib/site-packages/*" ` | |
| -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core" | |
| ${env:Path} += ";$InstallDir/lib" | |
| cmake --build . --target INSTALL --config "${{ matrix.BUILD_TYPE }}" | |
| ##################################################################################### | |
| - name: Generating the Python Pip wheels | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| $InstallDir = "$RootDir/install" | |
| ${env:Path} += ";$InstallDir/lib" | |
| # Generate stubs | |
| # FIXME: stubgen does not work with Numpy 2.X | |
| # (see https://github.com/python/mypy/issues/17396) | |
| python -m pip install "numpy<2.0" | |
| stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src | |
| python "$RootDir/build_tools/stubgen.py" ` | |
| -o $RootDir/build/stubs --ignore-invalid=all jiminy_py | |
| Copy-Item -Force -Path "$RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi" ` | |
| -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi" | |
| python -m pip install --upgrade "numpy>=1.24" numba torch | |
| # Generate wheels | |
| Set-Location -Path "$RootDir/build" | |
| cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake | |
| # Bundle non-standard dependencies with the wheels | |
| Remove-Item -Recurse -Path "$RootDir/build/pypi" -Include *.tar.gz | |
| Get-ChildItem -Recurse -Path "$RootDir/build/pypi/dist/jiminy_py" -Filter *.whl | | |
| Foreach-Object { | |
| $wheel_path = ($_.FullName) | |
| python "$RootDir/build_tools/wheel_repair_win.py" "$wheel_path" -d "$InstallDir/lib" -w "$RootDir/build/wheelhouse" | |
| } | |
| Get-ChildItem -Path "$RootDir/build/wheelhouse" -Filter *.whl | | |
| Foreach-Object { | |
| $wheel_path = ($_.FullName) | |
| python -m pip install --force-reinstall --no-deps $wheel_path | |
| } | |
| - name: Upload the wheel for Windows of jiminy_py | |
| if: matrix.BUILD_TYPE != 'Debug' | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheelhouse-${{ matrix.PYTHON_VERSION }} | |
| path: 'workspace/build/wheelhouse' | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| $InstallDir = "$RootDir/install" | |
| & "$InstallDir/bin/jiminy_double_pendulum.exe" | |
| mkdir -p "$RootDir/core/examples/external_project/build" | |
| cd "$RootDir/core/examples/external_project/build" | |
| $JIMINY_LIB_DIR = (python -c "import os, jiminy_py ; print(os.path.dirname(jiminy_py.get_libraries()))") | |
| echo $JIMINY_LIB_DIR | |
| ${env:Path} += ";$JIMINY_LIB_DIR" | |
| cmake "$RootDir/core/examples/external_project/" -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` | |
| -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" ` | |
| -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" ` | |
| -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS}" | |
| cmake --build . --target INSTALL --config "${{ matrix.BUILD_TYPE }}" | |
| & "$InstallDir/bin/pip_double_pendulum.exe" | |
| - name: Running unit tests for jiminy | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| ctest --output-on-failure --test-dir "${RootDir}/build/core/unit" | |
| python -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v | |
| - name: Run unit tests for gym jiminy base module | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| if ("${{ matrix.BUILD_TYPE }}" -eq "Debug") { | |
| ${env:JIMINY_BUILD_DEBUG} = 1 | |
| } | |
| python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v | |
| - name: Run examples for gym jiminy add-on modules | |
| if: matrix.BUILD_TYPE != 'Debug' | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| Set-Location -Path "$RootDir/python/gym_jiminy/examples/rllib" | |
| python acrobot_ppo.py | |
| ######################################################################################### | |
| publish-pypi-win10: | |
| name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py | |
| runs-on: ubuntu-24.04 | |
| permissions: | |
| id-token: write | |
| needs: build-and-test-win10 | |
| if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master' | |
| steps: | |
| - name: Download the wheels previously generated | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: wheelhouse-* | |
| merge-multiple: true | |
| path: wheelhouse | |
| - name: Publish on PyPi the wheels | |
| uses: pypa/gh-action-pypi-publish@v1.10.3 | |
| with: | |
| packages-dir: wheelhouse | |
| verify-metadata: false |