[gym/core] Fix corrupted robot proxy if model changes. (#746)

* [gym/core] Fix corrupted robot proxy if model changes. * [misc] Fix compilation on Windows ARM64.
duburcqa · Mar 22, 2024 · 083e6f5 · 083e6f5
1 parent a51cc10
commit 083e6f5
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Showing 7 changed files with 103 additions and 70 deletions.
diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh
@@ -18,7 +18,7 @@ if [ "$(uname -s)" = "Darwin" ]; then
 
   ### Set the build architecture if undefined
   if [ -z ${OSX_ARCHITECTURES} ]; then
-    OSX_ARCHITECTURES="arm64"
+    OSX_ARCHITECTURES="x86_64;arm64"
     echo "OSX_ARCHITECTURES is unset. Defaulting to '${OSX_ARCHITECTURES}'."
   fi
 fi

diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1
diff --git a/build_tools/patch_deps_windows/eigenpy.patch b/build_tools/patch_deps_windows/eigenpy.patch
@@ -4,7 +4,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 @@ -206,7 +206,7 @@
      src/optional.cpp
      src/version.cpp)
-
+ 
 -add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
 +add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SOURCES}
                                     ${${PROJECT_NAME}_HEADERS})
@@ -27,7 +27,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})

diff --git a/build_tools/patch_deps_windows/hppfcl.patch b/build_tools/patch_deps_windows/hppfcl.patch
@@ -16,7 +16,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 +  ADD_PROJECT_DEPENDENCY(Boost REQUIRED system)
 -  find_package(Boost REQUIRED COMPONENTS system)
  endif(BUILD_PYTHON_INTERFACE)
-  
+
  if(Boost_VERSION_STRING VERSION_LESS 1.81)
    # Default C++ version should be C++11
    CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
@@ -51,7 +51,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 @@ -283,7 +274,6 @@
    include/hpp/fcl/timings.h
    )
-
+ 
 -add_subdirectory(doc)
  add_subdirectory(src)
  if (BUILD_PYTHON_INTERFACE)
@@ -70,7 +70,7 @@ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 @@ -179,6 +178,7 @@
  ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
  ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
-
+ 
 +ADD_PROJECT_DEPENDENCY(assimp REQUIRED)
  MODERNIZE_TARGET_LINK_LIBRARIES(${LIBRARY_NAME} SCOPE PRIVATE
    TARGETS assimp::assimp
@@ -101,7 +101,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})

diff --git a/build_tools/patch_deps_windows/pinocchio.patch b/build_tools/patch_deps_windows/pinocchio.patch
@@ -6,7 +6,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
  SET_BOOST_DEFAULT_OPTIONS()
  EXPORT_BOOST_DEFAULT_OPTIONS()
 -ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-
+ 
  IF(Boost_VERSION_STRING VERSION_LESS 1.81)
      IF(BUILD_WITH_URDF_SUPPORT AND ${urdfdom_VERSION} VERSION_GREATER "0.4.2")
 @@ -163,6 +162,9 @@
@@ -49,7 +49,7 @@ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 +++ b/src/CMakeLists.txt
 @@ -17,7 +17,7 @@
    ${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
-
+ 
  # Create target libpinocchio.so
 -ADD_LIBRARY(${PROJECT_NAME} SHARED
 +ADD_LIBRARY(${PROJECT_NAME}
@@ -73,7 +73,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})

diff --git a/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py b/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py
@@ -688,6 +688,7 @@ def reset(self,  # type: ignore[override]
 
         # Re-initialize some shared memories.
         # It is necessary because the robot may have changed.
+        self.robot = self.simulator.robot
         self.robot_state = self.simulator.robot_state
         self.sensor_measurements = OrderedDict(self.robot.sensor_measurements)
 

diff --git a/python/jiminy_py/src/jiminy_py/viewer/replay.py b/python/jiminy_py/src/jiminy_py/viewer/replay.py
@@ -678,7 +678,8 @@ def play_trajectories(
                     # of the whole recording process (~75% on discrete gpu).
                     buffer = Viewer.capture_frame(
                         *record_video_size, raw_data=True)
-                    memoryview(frame.planes[0])[:] = buffer
+                    memoryview(
+                        frame.planes[0])[:] = buffer  # type: ignore[arg-type]
 
                     # Write frame
                     for packet in stream.encode(frame):