[gym/common] Improve support of dynamic computation graph.

python/gym_jiminy/common/gym_jiminy/common/bases/quantity.py

@@ -214,23 +214,27 @@ def cache(self, cache: SharedCache[ValueT]) -> None:
         self._cache = cache
         self._has_cache = True
 
-    @property
-    def is_active(self) -> bool:
+    def is_active(self, any: bool = False) -> bool:
         """Whether this quantity is considered active, namely `initialize` has
-        been called at least once since previous tracking reset, either by this
-        exact instance or any identical quantity if shared cache is available.
+        been called at least once since previous tracking reset.
+
+        :param any: False to check only if this exact instance is active, True
+                    if any of the identical quantities (sharing the same cache)
+                    is considered sufficient.
+                    Optional: False by default.
         """
-        if self._cache is None:
+        if not any or self._cache is None:
             return self._is_active
-        return any(owner._is_active for owner in self._cache.owners)
+        return __builtins__.any(
+            owner._is_active for owner in self._cache.owners)
 
     def get(self) -> ValueT:
         """Get cached value of requested quantity if available, otherwise
         evaluate it and store it in cache.
 
         This quantity is considered active as soon as this method has been
-        called at least once since previous tracking reset. The corresponding
-        property `is_active` will be true even before calling `initialize`.
+        called at least once since previous tracking reset. The method
+        `is_active` will be return true even before calling `initialize`.
 
         .. warning::
             This method is not meant to be overloaded.
@@ -289,7 +293,7 @@ def reset(self, reset_tracking: bool = False) -> None:
 
         # Reset all requirements first
         for quantity in self.requirements.values():
-            quantity.reset()
+            quantity.reset(reset_tracking)
 
         # More work has to be done if shared cache is available and has value
         if self._has_cache:

python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py

@@ -185,10 +185,15 @@ def initialize(self) -> None:
         self.frame_names = {self.parent.frame_name}
         if self.cache:
             for owner in self.cache.owners:
-                parent = owner.parent
-                assert isinstance(parent, EulerAnglesFrame)
-                if parent.is_active:
-                    self.frame_names.add(parent.frame_name)
+                # We only consider active instances of `_BatchEulerAnglesFrame`
+                # instead of their corresponding parent `EulerAnglesFrame`.
+                # This is necessary because a derived quantity may feature
+                # `_BatchEulerAnglesFrame` as a requirement without actually
+                # relying on it depending on whether it is part of the optimal
+                # computation path at the time being or not.
+                if owner.is_active(any=False):
+                    assert isinstance(owner.parent, EulerAnglesFrame)
+                    self.frame_names.add(owner.parent.frame_name)
 
         # Re-allocate memory as the number of frames is not known in advance.
         # Note that Fortran memory layout (column-major) is used for speed up

python/jiminy_py/setup.py

@@ -108,7 +108,7 @@ def finalize_options(self) -> None:
         # Panda3d is NOT supported by PyPy even if built from source.
         # - 1.10.12 fixes numerous bugs
         # - 1.10.13 crashes when generating wheels on MacOS
-        "panda3d>=1.10.14",
+        "panda3d>=1.10.13",
         # Photo-realistic shader for Panda3d to improve rendering of meshes.
         # - 0.11.X is not backward compatible.
         "panda3d-simplepbr==0.11.2",