Jiminy release 1.8.0 (#714)

* [core] More consistent naming conventions. (#705) * [core] Revert 'crba' to ensure positive definite inertia matrix. (#709) * [core] Remove return codes and throw exceptions instead. (#713) * [core/python] Get rid of intrusive global to_python converters.(#708) * [core/python] Avoid using raw C typeid. (#711) * [python] Get rid of 'dm-tree' dependency. (#706) * [python/viewer] Fix video recording on Apple Silicon with meshcat. (#706) * [python/viewer] Fix meshcat zmq socket not properly closed. * [gym/common] Fix circular reference issue preventing garbage collection. * [gym/common] Enable numba caching for 'remove_twist'. (#706) * [misc] Cleanup stable_baselines3 examples and unit tests. (#706) * [misc] Update Github Action to latest release.(#708) * [misc] Run CI on Apple Silicon when possible. (#707) * [misc] Update C++ dependencies to latest releases. (#713)
duburcqa · Feb 11, 2024 · 51b1451 · 51b1451
1 parent ddfbe27
commit 51b1451
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diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -19,7 +19,7 @@ jobs:
         PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11', '3.12']
         BUILD_TYPE: ['Release']
         include:
-          - PYTHON_VERSION: '3.8'
+          - PYTHON_VERSION: '3.10'
             BUILD_TYPE: 'Debug'
 
     defaults:
@@ -33,12 +33,11 @@ jobs:
 
     steps:
     - name: Configure Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.PYTHON_VERSION }}
-        architecture: 'x64'
     - name: Free Disk Space
-      uses: jlumbroso/free-disk-space@v1.3.0
+      uses: jlumbroso/free-disk-space@v1.3.1
       with:
         tool-cache: false
         android: true

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -12,17 +12,26 @@ jobs:
     name: >-
       (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
       Build and run the unit tests. Then generate and publish the wheels on PyPi.
-    # Github provides Apple Silicon runners (`macos-14`) but `setup-python` does not support ARM for now
-    runs-on: macos-13 #macos-14
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11', '3.12']
+        OS: ['macos-13']  # 'macos-13': Intel (x86), 'macos-14': Apple Silicon (arm64)
+                          # meshcat video recorder 'playwright' is not working on 'macos-14' runners.
+        PYTHON_VERSION: ['3.10', '3.11', '3.12']  # `setup-python` does not support Python<3.10 on Apple Silicon
         BUILD_TYPE: ['Release']
         include:
-          - PYTHON_VERSION: '3.11'
+          - OS: 'macos-13'
+            PYTHON_VERSION: '3.8'
+            BUILD_TYPE: 'Release'
+          - OS: 'macos-13'
+            PYTHON_VERSION: '3.9'
+            BUILD_TYPE: 'Release'
+          - OS: 'macos-13'
+            PYTHON_VERSION: '3.11'
             BUILD_TYPE: 'Debug'
 
+    runs-on: ${{ matrix.OS }}
+
     defaults:
       run:
         shell: bash -ieo pipefail {0}
@@ -44,10 +53,9 @@ jobs:
     #####################################################################################
 
     - name: Configure Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.PYTHON_VERSION }}
-        architecture: 'x64'
     - name: Setup minimal build environment
       run: |
         git config --global advice.detachedHead false
@@ -133,9 +141,9 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl
     - name: Upload the wheel for Linux of jiminy_py
       if: matrix.BUILD_TYPE == 'Release'
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
-        name: wheelhouse
+        name: wheelhouse-${{ matrix.PYTHON_VERSION }}
         path: build/wheelhouse
 
     #####################################################################################
@@ -193,20 +201,21 @@ jobs:
 
   publish-pypi-macos:
     name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py
+    runs-on: ubuntu-22.04
+    permissions:
+      id-token: write
+
     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
+      uses: actions/download-artifact@v4
       with:
-        name: wheelhouse
+        pattern: wheelhouse-*
+        merge-multiple: true
         path: wheelhouse
     - name: Publish the wheel
-      uses: pypa/gh-action-pypi-publish@v1.8.10
+      uses: pypa/gh-action-pypi-publish@v1.8.11
       with:
-        user: __token__
-        password: ${{ secrets.PYPI_DEPLOY }}
         packages-dir: wheelhouse
-        verify-metadata: false
diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -125,15 +125,15 @@ jobs:
         "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_repair_linux.py" repair \
             -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
     - name: Upload the wheel of Jiminy for Linux
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
-        name: wheelhouse
+        name: wheelhouse-jiminy-${{ matrix.PYTHON_VERSION }}
         path: build/wheelhouse
     - name: Upload the wheels of Gym Jiminy
       if: success() && matrix.PYTHON_VERSION == 'cp38'
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
-        name: wheelhouse
+        name: wheelhouse-gym_jiminy
         path: build/pypi/dist/gym_jiminy
 
     #####################################################################################
@@ -176,9 +176,10 @@ jobs:
     #####################################################################################
 
     - name: Download the wheels previously generated
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4
       with:
-        name: wheelhouse
+        pattern: wheelhouse-*
+        merge-multiple: true
         path: wheelhouse
     - name: Install the best wheel among the previously generated
       run: |
@@ -210,21 +211,21 @@ jobs:
 
   publish-pypi-manylinux:
     name: Publish on PyPi the wheel for Linux of jiminy_py and gym_jiminy
+    runs-on: ubuntu-22.04
+    permissions:
+      id-token: write
 
     needs: test-user-linux
-    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
+      uses: actions/download-artifact@v4
       with:
-        name: wheelhouse
+        pattern: wheelhouse-*
+        merge-multiple: true
         path: wheelhouse
     - name: Publish the wheels on PyPi
-      uses: pypa/gh-action-pypi-publish@v1.8.10
+      uses: pypa/gh-action-pypi-publish@v1.8.11
       with:
-        user: __token__
-        password: ${{ secrets.PYPI_DEPLOY }}
         packages-dir: wheelhouse
-        verify-metadata: false
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -10,27 +10,28 @@ on:
 jobs:
   build-test-and-deploy-doc-ubuntu:
     name: >-
-      (${{ matrix.os }}) (${{ matrix.BUILD_TYPE }}) (${{ matrix.COMPILER }}, ${{ matrix.GENERATOR }})
+      (${{ matrix.OS }}) (${{ matrix.BUILD_TYPE }}) (${{ matrix.COMPILER }}, ${{ matrix.GENERATOR }})
       Easy install the dependencies. Build the project and run the unit tests. Generate and deploy the documentation.
-    runs-on: ${{ matrix.os }}
 
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        OS: ['ubuntu-20.04', 'ubuntu-22.04']
         GENERATOR: ['Unix Makefiles']
         COMPILER: ['gcc']
         BUILD_TYPE: ['Release']
         include:
-          - os: ubuntu-20.04
+          - OS: 'ubuntu-20.04'
             GENERATOR: 'Unix Makefiles'
             COMPILER: 'gcc'
             BUILD_TYPE: 'Debug'
-          - os: ubuntu-20.04  # For some reason, importing 'jiminy_py' causes segfault on ubuntu-22.04
+          - OS: 'ubuntu-20.04'  # For some reason, importing 'jiminy_py' causes segfault on ubuntu-22.04
             GENERATOR: 'Ninja'
             COMPILER: 'clang'
             LINKER_FLAGS: '-fuse-ld=gold'
             BUILD_TYPE: 'Release'
 
+    runs-on: ${{ matrix.OS }}
+
     defaults:
       run:
         # Using bash with automatic sourcing `.bashrc` and fail-fast behavior enabled
@@ -42,7 +43,7 @@ jobs:
     - name: Checkout branch
       uses: actions/checkout@v4
     - name: Free Disk Space
-      uses: jlumbroso/free-disk-space@v1.3.0
+      uses: jlumbroso/free-disk-space@v1.3.1
       with:
         tool-cache: false
         android: true
@@ -80,7 +81,7 @@ jobs:
     #####################################################################################
 
     - name: PEP8 Code Style Check
-      if: matrix.os == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc'
+      if: matrix.OS == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install flake8
         flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \
@@ -157,7 +158,7 @@ jobs:
     #####################################################################################
 
     - name: Python linter
-      if: matrix.os == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc'
+      if: matrix.OS == 'ubuntu-20.04' && matrix.BUILD_TYPE == 'Release' && matrix.COMPILER == 'gcc'
       run: |
         cd "${RootDir}/python/jiminy_py/"
         pylint --rcfile="${RootDir}/.pylintrc" "src/"
@@ -175,7 +176,7 @@ jobs:
         cmake . -DCOMPONENT=docs -P ./cmake_install.cmake
     - name: Deploy to GitHub Pages
       if:  >-
-        matrix.os == 'ubuntu-22.04' && success() &&
+        matrix.OS == 'ubuntu-22.04' && success() &&
         github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
       uses: crazy-max/ghaction-github-pages@v4
       with:

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -34,18 +34,17 @@ jobs:
 
     steps:
     - name: Configure Pagefile
-      uses: al-cheb/configure-pagefile-action@v1.3
+      uses: al-cheb/configure-pagefile-action@v1.4
       with:
         disk-root: "C:"
-    - name: Create workspace on secondary drive that has more space
+    - 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@v4
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.PYTHON_VERSION }}
-        architecture: 'x64'
     - name: Checkout jiminy
       uses: actions/checkout@v4
       with:
@@ -143,9 +142,9 @@ jobs:
         }
     - name: Upload the wheel for Windows of jiminy_py
       if: matrix.BUILD_TYPE == 'Release'
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
-        name: wheelhouse
+        name: wheelhouse-${{ matrix.PYTHON_VERSION }}
         path: 'workspace/build/wheelhouse'
 
     #####################################################################################
@@ -209,20 +208,21 @@ jobs:
 
   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
-    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
+      uses: actions/download-artifact@v4
       with:
-        name: wheelhouse
+        pattern: wheelhouse-*
+        merge-multiple: true
         path: wheelhouse
     - name: Publish on PyPi the wheels
-      uses: pypa/gh-action-pypi-publish@v1.8.10
+      uses: pypa/gh-action-pypi-publish@v1.8.11
       with:
-        user: __token__
-        password: ${{ secrets.PYPI_DEPLOY }}
         packages-dir: wheelhouse
-        verify-metadata: false
diff --git a/.gitignore b/.gitignore
@@ -2,7 +2,9 @@
 *egg-info*
 **/__pycache__
 venv/
+.cache
 .vscode
+.DS_Store
 docs/html
 install
 build

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.12.4)
 
 # Set the build version (specify a tweak version to indicated post-release if needed)
-set(BUILD_VERSION 1.7.19.1)
+set(BUILD_VERSION 1.8.0)
 
 # Set compatibility
 set(COMPATIBILITY_VERSION SameMinorVersion)

diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh
@@ -110,7 +110,7 @@ if [ ! -d "${RootDir}/eigenpy" ]; then
 fi
 cd "${RootDir}/eigenpy"
 git reset --hard
-git fetch origin "v3.1.4" && git checkout --force FETCH_HEAD || true
+git fetch origin "v3.3.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/eigenpy.patch"
@@ -155,7 +155,7 @@ if [ ! -d "${RootDir}/cppad" ]; then
 fi
 cd "${RootDir}/cppad"
 git reset --hard
-git fetch origin "20230000.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "20240000.2" && git checkout --force FETCH_HEAD || true
 
 ### Checkout CppADCodeGen
 if [ ! -d "${RootDir}/cppadcodegen" ]; then
@@ -180,7 +180,7 @@ if [ ! -d "${RootDir}/hpp-fcl" ]; then
 fi
 cd "${RootDir}/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "v2.4.1" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/hppfcl.patch"
@@ -194,7 +194,7 @@ if [ ! -d "${RootDir}/pinocchio" ]; then
 fi
 cd "${RootDir}/pinocchio"
 git reset --hard
-git fetch origin "v2.6.21" && git checkout --force FETCH_HEAD || true
+git fetch origin "v2.7.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/pinocchio.patch"

diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1
@@ -108,7 +108,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
 }
 Push-Location -Path "$RootDir/eigenpy"
 git reset --hard
-git fetch origin "v3.1.4"
+git fetch origin "v3.3.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -164,7 +164,7 @@ if (-not (Test-Path -PathType Container "$RootDir/cppad")) {
 }
 Push-Location -Path "$RootDir/cppad"
 git reset --hard
-git fetch origin "20230000.0"
+git fetch origin "20240000.2"
 git checkout --force FETCH_HEAD
 Pop-Location
 
@@ -195,7 +195,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
 }
 Push-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.0"
+git fetch origin "v2.4.1"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -214,7 +214,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
 }
 Push-Location -Path "$RootDir/pinocchio"
 git reset --hard
-git fetch origin "v2.6.21"
+git fetch origin "v2.7.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8