[gym/core] Fix corrupted robot proxy if model changes. #4252
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) (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }}) | |
| Build the dependencies. Build the project and run the unit tests. | |
| runs-on: windows-2022 | |
| defaults: | |
| run: | |
| shell: pwsh | |
| env: | |
| 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', '3.12'] | |
| BUILD_TYPE: ['Release'] | |
| include: | |
| - PYTHON_VERSION: '3.10' | |
| BUILD_TYPE: 'Debug' | |
| ##################################################################################### | |
| steps: | |
| - name: Configure Pagefile | |
| uses: al-cheb/configure-pagefile-action@v1.4 | |
| with: | |
| disk-root: "C:" | |
| - name: Create workspace on secondary drive (C:) that has more space | |
| run: | | |
| New-Item -ItemType Directory -Force -Path C:\workspace | |
| New-Item -ItemType Junction -Force -Value C:\workspace -Path "${env:GITHUB_WORKSPACE}/workspace" | |
| - name: Configure Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.PYTHON_VERSION }} | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| with: | |
| path: 'workspace' | |
| ##################################################################################### | |
| - 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 pefile machomachomangler | |
| - name: Install pre-compiled binaries for additional gym-jiminy dependencies | |
| 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" | |
| - name: Install latest numpy version at build-time for run-time binary compatibility | |
| run: | | |
| python -m pip install --upgrade "numpy>=1.23,<2.0" | |
| - name: Build jiminy dependencies | |
| run: | | |
| ${env:BUILD_TYPE} = "${{ matrix.BUILD_TYPE }}" | |
| & "./workspace/build_tools/build_install_deps_windows.ps1" | |
| ##################################################################################### | |
| - name: Configure and build jiminy | |
| # FIXME: CMake exits with non-zero code if an error occurred in 'execute_process'. | |
| # Indeed, such errors are expected to occur if some gym_jiminy add-on cannot be | |
| # installed because of missing pre-compiled dependency on Pypi. | |
| continue-on-error: true | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_WORKSPACE}/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" -Wdev -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 ` | |
| -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" ` | |
| -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" ` | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF -DCMAKE_VERBOSE_MAKEFILE=ON ` | |
| -DBOOST_ROOT="$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=${{ ((matrix.PYTHON_VERSION == '3.13') && 'OFF') || 'ON' }} ` | |
| -DCMAKE_CXX_FLAGS="${env:CMAKE_CXX_FLAGS} $( | |
| ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $( | |
| ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC" | |
| cmake --build . --target ALL_BUILD --config "${{ matrix.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 "${{ matrix.BUILD_TYPE }}" | |
| ##################################################################################### | |
| - name: Generating the Python Pip wheels | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/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 $wheel_path | |
| } | |
| - name: Upload the wheel for Windows of jiminy_py | |
| if: matrix.BUILD_TYPE != 'Debug' | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheelhouse-${{ matrix.PYTHON_VERSION }} | |
| path: 'workspace/build/wheelhouse' | |
| ##################################################################################### | |
| - name: Build extension module | |
| run: | | |
| $ErrorActionPreference = "Stop" | |
| Set-PSDebug -Trace 1 | |
| $RootDir = "${env:GITHUB_WORKSPACE}/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()))") | |
| echo $JIMINY_LIB_DIR | |
| ${env:Path} += ";$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 "${{ matrix.BUILD_TYPE }}" | |
| & "$InstallDir/bin/pip_double_pendulum.exe" | |
| - name: Running unit tests for jiminy | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| ctest --output-on-failure --test-dir "${RootDir}/build/core/unit" | |
| python -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v | |
| - name: Run unit tests for gym jiminy base module | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| if ("${{ matrix.BUILD_TYPE }}" -eq "Debug") { | |
| ${env:JIMINY_BUILD_DEBUG} = 1 | |
| } | |
| python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v | |
| - name: Run examples for gym jiminy add-on modules | |
| if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.11' && matrix.PYTHON_VERSION != '3.12' | |
| run: | | |
| $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/' | |
| # FIXME: Python 3.11 was not supported by ray on Windows until very recently. | |
| # It has been fixed on master but not on the latest available release (2.93). | |
| # See: https://github.com/ray-project/ray/pull/42097 | |
| Set-Location -Path "$RootDir/python/gym_jiminy/examples/rllib" | |
| python acrobot_ppo.py | |
| ######################################################################################### | |
| publish-pypi-win10: | |
| name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py | |
| runs-on: ubuntu-22.04 | |
| permissions: | |
| id-token: write | |
| needs: build-and-test-win10 | |
| 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@v4 | |
| with: | |
| pattern: wheelhouse-* | |
| merge-multiple: true | |
| path: wheelhouse | |
| - name: Publish on PyPi the wheels | |
| uses: pypa/gh-action-pypi-publish@v1.8.11 | |
| with: | |
| packages-dir: wheelhouse | |
| verify-metadata: false |