[gym_jiminy/common] Add PD controller mode to force instantaneous state update. #3597
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| name: Ubuntu CI (Easy install dependencies) | |
| on: | |
| # Trigger the workflow on push on the master branch, or for any pull request | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| jobs: | |
| build-test-and-deploy-doc-ubuntu: | |
| name: >- | |
| (${{ matrix.OS }}) (${{ matrix.BUILD_TYPE }}) (${{ matrix.COMPILER }}, ${{ matrix.GENERATOR }}) | |
| Easy install the dependencies. Build the project and run the unit tests. Generate and deploy the documentation. | |
| strategy: | |
| matrix: | |
| OS: ['ubuntu-24.04'] | |
| GENERATOR: ['Unix Makefiles'] | |
| COMPILER: ['gcc'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - OS: 'ubuntu-24.04' | |
| GENERATOR: 'Unix Makefiles' | |
| COMPILER: 'gcc' | |
| BUILD_TYPE: 'Debug' | |
| - OS: 'ubuntu-24.04' | |
| GENERATOR: 'Ninja' | |
| COMPILER: 'clang' | |
| LINKER_FLAGS: '-fuse-ld=gold' | |
| BUILD_TYPE: 'Release' | |
| runs-on: ${{ matrix.OS }} | |
| defaults: | |
| run: | |
| # Using bash with automatic sourcing `.bashrc` and fail-fast behavior enabled | |
| shell: bash -ieo pipefail {0} | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout branch | |
| uses: actions/checkout@v4 | |
| - name: Free Disk Space | |
| uses: jlumbroso/free-disk-space@v1.3.1 | |
| with: | |
| tool-cache: false | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| swap-storage: false | |
| ##################################################################################### | |
| - name: Define environment variables | |
| run: | | |
| echo "C_COMPILER=/usr/bin/${{ matrix.COMPILER }}" >> $GITHUB_ENV | |
| if [[ "${{ matrix.COMPILER }}" == 'gcc' ]] ; then | |
| echo "CXX_COMPILER=/usr/bin/g++" >> $GITHUB_ENV | |
| else | |
| echo "CXX_COMPILER=/usr/bin/${{ matrix.COMPILER }}++" >> $GITHUB_ENV | |
| fi | |
| echo "PYTHON_EXECUTABLE=/usr/bin/python3" >> $GITHUB_ENV | |
| echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV | |
| echo "/home/runner/.local/bin" >> $GITHUB_PATH | |
| - name: Install pre-compiled project dependencies | |
| run: | | |
| sudo env "PATH=$PATH" "${RootDir}/build_tools/easy_install_deps_ubuntu.sh" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| sudo apt install ninja-build | |
| fi | |
| "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch | |
| "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0,<2.4" | |
| ##################################################################################### | |
| - name: PEP8 Code Style Check | |
| if: matrix.OS == 'ubuntu-24.04' && matrix.BUILD_TYPE != 'Debug' && matrix.COMPILER == 'gcc' | |
| run: | | |
| "${PYTHON_EXECUTABLE}" -m pip install flake8 | |
| flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \ | |
| --count --show-source --statistics --exclude unit_py,examples "${RootDir}/python/" | |
| ##################################################################################### | |
| - name: Build and install Jiminy | |
| run: | | |
| mkdir "${RootDir}/build" "${InstallDir}" | |
| cd "${RootDir}/build" | |
| cmake "${RootDir}" -Wdev -G "${{ matrix.GENERATOR }}" \ | |
| -DCMAKE_EXE_LINKER_FLAGS="${{ 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="/opt/openrobots/" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \ | |
| -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \ | |
| -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \ | |
| -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| ninja install -j4 | |
| else | |
| make install -j4 | |
| fi | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| "${InstallDir}/bin/jiminy_double_pendulum" | |
| # Make sure that jiminy_py Python module can be imported | |
| # export LD_LIBRARY_PATH="$InstallDir/lib" | |
| "${PYTHON_EXECUTABLE}" -c "import jiminy_py; print(jiminy_py.get_libraries())" | |
| RootDir="${RootDir}/core/examples/external_project/" | |
| mkdir -p "${RootDir}/build" | |
| cd "${RootDir}/build" | |
| cmake "${RootDir}" -G "${{ matrix.GENERATOR }}" \ | |
| -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="${InstallDir}" -DCMAKE_PREFIX_PATH="/opt/openrobots/" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \ | |
| -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then | |
| ninja install | |
| else | |
| make install | |
| fi | |
| "${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 linter | |
| if: matrix.OS == 'ubuntu-24.04' && matrix.BUILD_TYPE != 'Debug' && matrix.COMPILER == 'gcc' | |
| run: | | |
| cd "${RootDir}/python/jiminy_py/" | |
| pylint --rcfile="${RootDir}/.pylintrc" "src/" | |
| for name in "common" "toolbox" "rllib" ; do | |
| cd "${RootDir}/python/gym_jiminy/$name" | |
| pylint --rcfile="${RootDir}/.pylintrc" "gym_jiminy/" | |
| done | |
| ##################################################################################### | |
| - name: Generate and install Doxygen documentation | |
| run: | | |
| cd build | |
| cmake . # Reconfigure cmake since sphinx has been installed in the meantime | |
| cmake . -DCOMPONENT=docs -P ./cmake_install.cmake | |
| - name: Deploy to GitHub Pages | |
| if: >- | |
| matrix.OS == 'ubuntu-24.04' && success() && | |
| github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master' | |
| uses: crazy-max/ghaction-github-pages@v4 | |
| with: | |
| target_branch: gh-pages | |
| build_dir: docs/html | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GH_DEPLOY }} |