[misc] Cleanup MacOS CI workflow.

duburcqa · Nov 18, 2024 · dd07927 · dd07927
1 parent e5c4897
commit dd07927
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Showing 3 changed files with 17 additions and 28 deletions.
diff --git a/.github/workflows/macos.yml b/.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
 
@@ -61,6 +64,11 @@ 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"
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
@@ -127,15 +135,12 @@ jobs:
         # (see https://github.com/python/mypy/issues/17396)
         "${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 \
-             ${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
-        fi
+        # lldb --batch -o "settings set target.process.stop-on-exec false" \
+        #   -o "break set -n main" -o "run" -k "bt" -k "quit" -- \
+        "${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
 
         # Generate wheels
         cd "${RootDir}/build"
@@ -184,22 +189,12 @@ jobs:
         ctest --output-on-failure --test-dir "${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 +206,6 @@ 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
 
 #########################################################################################

diff --git a/python/gym_jiminy/unit_py/test_pipeline_control.py b/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,

diff --git a/python/jiminy_pywrap/src/module.cc b/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();