[gym_jiminy/common] Stop relying on 'true' sensor measurements in computations. #4667
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| name: Linux 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: >- | |
| (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }}) | |
| Build the dependencies. Build the project and run the unit tests. | |
| runs-on: ubuntu-24.04 | |
| strategy: | |
| matrix: | |
| PYTHON_VERSION: ['3.10', '3.11', '3.12'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - PYTHON_VERSION: '3.12' | |
| BUILD_TYPE: 'Debug' | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| CXX_FLAGS: "-march=x86-64-v3 -mtune=generic" | |
| ##################################################################################### | |
| steps: | |
| - name: Configure Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| - name: Free Disk Space | |
| uses: jlumbroso/free-disk-space@v1.3.1 | |
| with: | |
| tool-cache: false | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| swap-storage: false | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| ##################################################################################### | |
| - name: Define environment variables | |
| run: | | |
| PYTHON_EXECUTABLE="${pythonLocation}/bin/python3" | |
| echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV | |
| echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV | |
| echo "/home/runner/.local/bin" >> $GITHUB_PATH | |
| - name: Setup minimal build environment | |
| run: | | |
| sudo apt update | |
| sudo apt install -y gdb gnupg curl wget build-essential cmake doxygen graphviz texlive-latex-base | |
| "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3" | |
| git config --global advice.detachedHead false | |
| - 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: | | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch | |
| - name: Build jiminy dependencies | |
| run: | | |
| BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh | |
| ##################################################################################### | |
| - name: Build and install Jiminy | |
| run: | | |
| unset Boost_ROOT | |
| mkdir "${RootDir}/build" | |
| cd "${RootDir}/build" | |
| cmake "${RootDir}" -Wdev \ | |
| -DCMAKE_INSTALL_PREFIX="$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 \ | |
| -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \ | |
| -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| make install -j4 | |
| echo "LD_LIBRARY_PATH=$InstallDir/lib:$InstallDir/lib64:/usr/local/lib" >> $GITHUB_ENV | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| "$InstallDir/bin/jiminy_double_pendulum" | |
| mkdir -p "${RootDir}/core/examples/external_project/build" | |
| cd "${RootDir}/core/examples/external_project/build" | |
| cmake "${RootDir}/core/examples/external_project/" \ | |
| -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \ | |
| -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \ | |
| -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}" | |
| make install | |
| "$InstallDir/bin/pip_double_pendulum" | |
| ##################################################################################### | |
| - name: Run unit tests for jiminy | |
| run: | | |
| ctest --output-on-failure --test-dir "${RootDir}/build/core/unit" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v | |
| - name: Run unit tests for gym jiminy base module | |
| run: | | |
| if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then | |
| export JIMINY_BUILD_DEBUG= | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v | |
| - name: Run examples for gym jiminy add-on modules | |
| if: matrix.BUILD_TYPE != 'Debug' | |
| run: | | |
| cd "${RootDir}/python/gym_jiminy/examples/rllib" | |
| "${PYTHON_EXECUTABLE}" acrobot_ppo.py | |
| - name: Python static type checker | |
| if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION == '3.10' | |
| run: | | |
| # Generate stubs | |
| # FIXME: stubgen does not work with Numpy 2.X | |
| # (see https://github.com/python/mypy/issues/17396) | |
| "${PYTHON_EXECUTABLE}" -m pip install "numpy<2.0" | |
| stubgen -p jiminy_py -o ${RootDir}/build/pypi/jiminy_py/src | |
| "${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 \ | |
| ${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch | |
| # Re-install jiminy with stubs | |
| cd "${RootDir}/build" | |
| make install | |
| # mypy is not able to follow `.pth` when checking directories or files. | |
| # This bug may be fixed in the future. The only workaround is to set `MYPYPATH` manually. | |
| # Anyway, the stubs generated for eigenpy, hppfcl and pinocchio they are incomplete and | |
| # even partially wrong, so it is better to ignore them for now. | |
| # See: https://github.com/python/mypy/issues/14848. | |
| cd "${RootDir}/python/jiminy_py/src" | |
| mypy --config-file="${RootDir}/.mypy.ini" -p jiminy_py | |
| for name in "common" "envs" "toolbox" "rllib"; do | |
| cd "${RootDir}/python/gym_jiminy/$name" | |
| mypy --config-file="${RootDir}/.mypy.ini" -p gym_jiminy | |
| done |