[misc] Cleanup MacOS CI workflow. (#833)

.github/workflows/linux.yml

@@ -72,7 +72,7 @@ jobs:
       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"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0,<2.4"
     - name: Install latest numpy version at build-time for run-time binary compatibility
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24"

.github/workflows/macos.yml

@@ -15,12 +15,15 @@ jobs:
 
     strategy:
       matrix:
-        OS: ['macos-14']  # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64)
+        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: '3.11'
+            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
 
@@ -61,13 +64,18 @@ jobs:
         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
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
+        "${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: |
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24"
@@ -148,7 +156,7 @@ jobs:
             -p "macosx_${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'
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.OS != 'macos-15'
       uses: actions/upload-artifact@v4
       with:
         name: wheelhouse-${{ matrix.PYTHON_VERSION }}
@@ -184,22 +192,12 @@ jobs:
         ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
         cd "${RootDir}/python/jiminy_py/unit_py"
-        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
-        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
-          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
-        fi
         "${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"
 
-        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
-        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
-          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
-        fi
-        # FIXME: Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is
-        # failing for 'panda3d-sync' backend due to meshes still loading at screenshot time.
         if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
           export JIMINY_BUILD_DEBUG=
         fi
@@ -211,10 +209,6 @@ jobs:
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
 
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
-        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
-        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
-          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
-        fi
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
 #########################################################################################

.github/workflows/ubuntu.yml

@@ -76,7 +76,7 @@ jobs:
           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"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0,<2.4"
 
     #####################################################################################
 

.github/workflows/win.yml

@@ -61,7 +61,7 @@ jobs:
       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"
+        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"

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -120,7 +120,7 @@ def __init__(self,
         r"""
         :param simulator: Jiminy Python simulator used for physics
                           computations. It must be fully initialized.
-        :param step_dt: Simulation timestep for learning. Note that it is
+        :param step_dt: Environment timestep for learning. Note that it is
                         independent from the controller and observation update
                         periods. The latter are configured via
                         `engine.set_options`.

python/gym_jiminy/common/gym_jiminy/common/envs/locomotion.py

@@ -99,7 +99,10 @@ def __init__(self,
                               used if available.
         :param simulation_duration_max: Maximum duration of a simulation before
                                         returning done.
-        :param step_dt: Simulation timestep for learning.
+        :param step_dt: Environment timestep for learning. Note that it is
+                        independent from the controller and observation update
+                        periods. The latter are configured via
+                        `engine.set_options`.
         :param reward_mixture: Weighting factors of selected contributions to
                                total reward.
         :param std_ratio: Relative standard deviation of selected contributions

python/gym_jiminy/rllib/gym_jiminy/rllib/utilities.py

@@ -522,6 +522,13 @@ def train(algo_config: AlgorithmConfig,
         }
     )
 
+    # Help making training more deterministic if a seed is specified
+    seed = cast(Optional[int], algo_config.seed)
+    if seed is not None:
+        algo_config.reporting(
+            min_time_s_per_iteration=None
+        )
+
     # Disable default logger but configure logging directory nonetheless
     algo_config.debugging(
         logger_config=dict(
@@ -603,7 +610,6 @@ def train(algo_config: AlgorithmConfig,
         return_threshold = env_spec.reward_threshold
 
     # Set the seed of the training and evaluation environments
-    seed = cast(Optional[int], algo_config.seed)
     if seed is not None:
         seed_seq_gen = np.random.SeedSequence(seed)
         seed_seq = seed_seq_gen.generate_state(2)
@@ -789,7 +795,7 @@ def train(algo_config: AlgorithmConfig,
 
             # Backup the policy
             if checkpoint_period > 0 and iter_num % checkpoint_period == 0:
-                algo.save(str(Path(logdir) / f"checkpoint_{iter_num:06d}"))
+                algo.save(os.path.join(logdir, f"checkpoint_{iter_num:06d}"))
 
             # Check terminal conditions
             num_timesteps = result[NUM_ENV_STEPS_SAMPLED_LIFETIME]
@@ -820,7 +826,7 @@ def train(algo_config: AlgorithmConfig,
 
     # Backup trained agent and return file location
     checkpoint_result = algo.save(
-        str(Path(logdir) / f"checkpoint_{iter_num:06d}"))
+        os.path.join(logdir, f"checkpoint_{iter_num:06d}"))
     assert checkpoint_result.metrics is not None
     assert checkpoint_result.checkpoint is not None
 

python/gym_jiminy/unit_py/test_pipeline_control.py

@@ -108,8 +108,6 @@ def _test_pid_standing(self):
         self.assertTrue(np.all(
             np.abs(velocity_mes[time > time[-1] - 1.0]) < 1.0e-3))
 
-    @unittest.skipIf(DEBUG and sys.platform == "darwin",
-                     "skipping when compiled in debug on Mac OS")
     def test_pid_standing(self):
         for backend in ('panda3d-sync', 'meshcat'):
             for Env in (AtlasPDControlJiminyEnv,

python/jiminy_pywrap/src/module.cc

@@ -51,7 +51,7 @@ namespace jiminy::python
 
     BOOST_PYTHON_MODULE(PYTHON_LIBRARY_NAME)
     {
-        /* Initialized Numpy C API.
+        /* Initialized "local" Numpy C API.
            This is required to handle raw `numpy::ndarray` objects manually. */
         import_numpy();