[gym_jiminy/common] Speed-up nested data structure utilities. #3737
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 }}) Build the dependencies. | |
| Build the project and run the unit tests. | |
| runs-on: windows-2022 | |
| defaults: | |
| run: | |
| shell: pwsh | |
| env: | |
| TORCH_VERSION: "2.0.1+cpu" | |
| BUILD_TYPE: "Release" | |
| GENERATOR: "Visual Studio 17 2022" | |
| CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2" | |
| strategy: | |
| matrix: | |
| PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11'] | |
| ##################################################################################### | |
| steps: | |
| - name: Configure Pagefile | |
| uses: al-cheb/configure-pagefile-action@v1.3 | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v3 | |
| ##################################################################################### | |
| - name: Configure Python | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| architecture: 'x64' | |
| - name: Setup minimal build environment | |
| run: | | |
| git config --global advice.detachedHead false | |
| python -m pip install setuptools wheel "pip>=20.3" | |
| python -m pip install "numpy>=1.21" "numba>=0.54.0" | |
| python -m pip install pefile machomachomangler | |
| - name: Build project dependencies | |
| run: | | |
| if ("${{ matrix.PYTHON_VERSION }}" -ne '3.11') { | |
| python -m pip install "torch==${env:TORCH_VERSION}" -f https://download.pytorch.org/whl/torch | |
| python -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0" | |
| } | |
| & "./build_tools/build_install_deps_windows.ps1" | |
| ##################################################################################### | |
| - name: Configure and build jiminy | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_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" -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` | |
| -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" ` | |
| -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" ` | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF ` | |
| -DBOOST_ROOT="$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=${{ (matrix.PYTHON_VERSION == '3.11' && 'OFF') || 'ON' }} ` | |
| -DCMAKE_CXX_FLAGS="${env:CMAKE_CXX_FLAGS} $( | |
| ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $( | |
| ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC" | |
| cmake --build . --target ALL_BUILD --config "${env:BUILD_TYPE}" --parallel 2 | |
| 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 "${env:BUILD_TYPE}" | |
| ##################################################################################### | |
| - name: Generating the Python Pip wheels | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/' | |
| $InstallDir = "$RootDir/install" | |
| ${env:Path} += ";$InstallDir/lib" | |
| # Generate stubs | |
| stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src | |
| python "$RootDir/build_tools/stub_gen.py" ` | |
| -o $RootDir/build/stubs --ignore-invalid=all jiminy_py | |
| Copy-Item -Force -Path "$RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi" ` | |
| -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi" | |
| # Generate wheels | |
| Set-Location -Path "$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 | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: wheelhouse | |
| path: build/wheelhouse | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_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()))") | |
| ${env:Path} += ";$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:CMAKE_CXX_FLAGS}" | |
| cmake --build . --target INSTALL --config "${env:BUILD_TYPE}" | |
| & "$InstallDir/bin/pip_double_pendulum.exe" | |
| - name: Running unit tests for jiminy | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/' | |
| Set-Location -Path "$RootDir/build/core/unit" | |
| ctest --output-on-failure | |
| Set-Location -Path "$RootDir/python/jiminy_py/unit_py" | |
| python -m unittest discover -v | |
| - name: Running unit tests for gym_jiminy | |
| if: matrix.PYTHON_VERSION != '3.11' | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/' | |
| Set-Location -Path "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib" | |
| $JIMINY_VIEWER_DEFAULT_BACKEND = "panda3d-sync" | |
| python acrobot_ppo.py | |
| python -m pip install "stable_baselines3>=2.0" | |
| Set-Location -Path "$RootDir/python/gym_jiminy/unit_py" | |
| python -m unittest discover -v | |
| ######################################################################################### | |
| publish-pypi-win10: | |
| name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py | |
| needs: build-and-test-win10 | |
| runs-on: ubuntu-20.04 | |
| 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@v3 | |
| with: | |
| name: wheelhouse | |
| path: wheelhouse | |
| - name: Publish on PyPi the wheels | |
| uses: pypa/gh-action-pypi-publish@v1.7.1 | |
| with: | |
| user: __token__ | |
| password: ${{ secrets.PYPI_DEPLOY }} | |
| packages-dir: wheelhouse | |
| verify-metadata: false |