[python/viewer] Fix some edge-cases with panda3d backend. #1408
Workflow file for this run
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| name: MacOS 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-osx: | |
| name: >- | |
| (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }}) | |
| Build and run the unit tests. Then generate and publish the wheels on PyPi. | |
| runs-on: macos-11 | |
| strategy: | |
| matrix: | |
| PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - PYTHON_VERSION: '3.11' | |
| BUILD_TYPE: 'Debug' | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| TORCH_VERSION: "2.0.1" | |
| CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY" | |
| MACOSX_DEPLOYMENT_TARGET: "10.15" | |
| OSX_ARCHITECTURES: "x86_64;arm64" | |
| WHEEL_ARCH: "universal2" | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| ##################################################################################### | |
| - name: Configure Python | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| architecture: 'x64' | |
| - name: Setup minimal build environment | |
| run: | | |
| git config --global advice.detachedHead false | |
| PYTHON_EXECUTABLE="${pythonLocation}/bin/python3" | |
| echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV | |
| echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV | |
| "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3" | |
| "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21" "numba>=0.54.0" | |
| "${PYTHON_EXECUTABLE}" -m pip install delocate twine | |
| - name: Build project dependencies | |
| run: | | |
| MACOSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \ | |
| BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh | |
| "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/cpu | |
| "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0" | |
| ##################################################################################### | |
| - name: Build and install Jiminy | |
| run: | | |
| unset Boost_ROOT | |
| # Build jiminy | |
| mkdir "$RootDir/build" | |
| cd "$RootDir/build" | |
| export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib" | |
| cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \ | |
| -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \ | |
| -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \ | |
| -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="${PYTHON_EXECUTABLE}" \ | |
| -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \ | |
| -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \ | |
| -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| make -j2 | |
| # Bundle the boost python dependencies with jiminy | |
| mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py" | |
| cp -R -H "$InstallDir/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \ | |
| "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core" | |
| # Install jiminy along with its dependencies | |
| make install | |
| # Strip all symbol table and relocation information from python bindings and shared libraries | |
| find "$RootDir/build/pypi/" -name "*.so" -print -exec strip -x {} + | |
| find "$InstallDir/lib" -name "*.dylib" -maxdepth 1 -print -exec strip -x {} + | |
| ##################################################################################### | |
| - name: Generate and install Python Pip wheels | |
| run: | | |
| export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib" | |
| export DYLD_LIBRARY_PATH="$LD_LIBRARY_PATH" | |
| # Generate stubs. | |
| # It does not work on MacOS because of panda3d import errors in frozen mode. Disabling for now. | |
| # stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src | |
| # "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/stub_gen.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" | |
| cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake | |
| # Bundle non-standard dependencies with the wheels | |
| delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \ | |
| -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl | |
| "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \ | |
| -p "macosx_${MACOSX_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 == 'Release' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: wheelhouse | |
| path: build/wheelhouse | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib" | |
| "$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="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}" | |
| make install | |
| "$InstallDir/bin/pip_double_pendulum" | |
| ##################################################################################### | |
| - name: Run unit tests for jiminy | |
| run: | | |
| # Do NOT set LD_LIBRARY_PATH to check the import of bundled dependencies as fallback | |
| cd "$RootDir/build/core/unit" | |
| ctest --output-on-failure | |
| cd "$RootDir/python/jiminy_py/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -v | |
| - name: Run unit tests for gym_jiminy | |
| if: matrix.BUILD_TYPE != 'Release' | |
| run: | | |
| # 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. | |
| cd "$RootDir/python/gym_jiminy/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest test_pipeline_design.py -v | |
| - name: Run unit tests for gym jiminy | |
| if: matrix.BUILD_TYPE == 'Release' | |
| run: | | |
| export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib" | |
| # FIXME: segfault when enabling viewer for Panda3D 1.10.12 | |
| cd "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib" | |
| JIMINY_VIEWER_DISABLE= "${PYTHON_EXECUTABLE}" acrobot_ppo.py | |
| "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0" | |
| cd "$RootDir/python/gym_jiminy/unit_py" | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -v | |
| ######################################################################################### | |
| publish-pypi-macos: | |
| name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py | |
| needs: build-and-test-osx | |
| runs-on: ubuntu-20.04 | |
| if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master' | |
| steps: | |
| - name: Download the wheel previously generated | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: wheelhouse | |
| path: wheelhouse | |
| - name: Publish the wheel | |
| uses: pypa/gh-action-pypi-publish@v1.8.10 | |
| with: | |
| user: __token__ | |
| password: ${{ secrets.PYPI_DEPLOY }} | |
| packages-dir: wheelhouse | |
| verify-metadata: false |