[misc] Upgrade C++ dependencies. (#741)

.github/workflows/linux.yml

@@ -66,17 +66,19 @@ jobs:
         sudo apt install -y gdb gnupg curl wget build-essential cmake doxygen graphviz texlive-latex-base
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
 
         git config --global advice.detachedHead false
-    - name: Build jiminy dependencies
-      run: |
-        BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
       if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
         "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
+    - name: Install latest numpy version at build-time for run-time binary compatibility
+      run: |
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.23,<2.0"
+    - name: Build jiminy dependencies
+      run: |
+        BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
 
     #####################################################################################
 

.github/workflows/macos.yml

@@ -68,17 +68,19 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
-    - name: Build jiminy dependencies
-      run: |
-        OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
-          BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
       if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
         "${PYTHON_EXECUTABLE}" -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: |
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.23,<2.0"
+    - name: Build jiminy dependencies
+      run: |
+        OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
+          BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
 
     #####################################################################################
 

.github/workflows/manylinux.yml

@@ -62,8 +62,10 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install twine cmake
+    - name: Install latest numpy version at build-time for run-time binary compatibility
+      run: |
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.23,<2.0"
     - name: Build project dependencies
       run: |
         ./build_tools/build_install_deps_unix.sh

.github/workflows/win.yml

@@ -56,17 +56,19 @@ jobs:
       run: |
         git config --global advice.detachedHead false
         python -m pip install setuptools wheel "pip>=20.3"
-        python -m pip install "numpy>=1.23,<2.0"
         python -m pip install pefile machomachomangler
-    - name: Build jiminy dependencies
-      run: |
-        ${env:BUILD_TYPE} = "${{ matrix.BUILD_TYPE }}"
-        & "./workspace/build_tools/build_install_deps_windows.ps1"
     - 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"
 
     #####################################################################################
 

.gitignore

@@ -10,3 +10,4 @@ install
 build
 build_tools/cmake/*cppad*
 **/log
+**/*.trace

build_tools/build_install_deps_unix.sh

@@ -127,7 +127,7 @@ rm -rf "${RootDir}/eigenpy/build"
 mkdir -p "${RootDir}/eigenpy/build"
 cd "${RootDir}/eigenpy"
 git reset --hard
-git fetch origin "v3.3.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "v3.4.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/eigenpy.patch"
@@ -207,13 +207,12 @@ git fetch origin "v5.2.5" && git checkout --force FETCH_HEAD || true
 ### Checkout hpp-fcl
 if [ ! -d "${RootDir}/hpp-fcl" ]; then
   git clone --depth 1 https://github.com/humanoid-path-planner/hpp-fcl.git "${RootDir}/hpp-fcl"
-  git config --global url."https://".insteadOf git://
 fi
 rm -rf "${RootDir}/hpp-fcl/build"
 mkdir -p "${RootDir}/hpp-fcl/build"
 cd "${RootDir}/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.1" && git checkout --force FETCH_HEAD || true
+git fetch origin "v2.4.4" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
 git apply --reject --whitespace=fix "${RootDir}/build_tools/patch_deps_unix/hppfcl.patch"
@@ -224,7 +223,6 @@ git fetch origin "v8.0.2" && git checkout --force FETCH_HEAD || true
 ### Checkout pinocchio and its submodules
 if [ ! -d "${RootDir}/pinocchio" ]; then
   git clone --depth 1 https://github.com/stack-of-tasks/pinocchio.git "${RootDir}/pinocchio"
-  git config --global url."https://".insteadOf git://
 fi
 rm -rf "${RootDir}/pinocchio/build"
 mkdir -p "${RootDir}/pinocchio/build"

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 "v3.3.0"
+git fetch origin "v3.4.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -191,11 +191,10 @@ Pop-Location
 ### Checkout hpp-fcl, then apply some patches
 if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
   git clone --depth=1 https://github.com/humanoid-path-planner/hpp-fcl.git "$RootDir/hpp-fcl"
-  git config --global url."https://".insteadOf git://
 }
 Push-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
-git fetch origin "v2.4.1"
+git fetch origin "v2.4.4"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
@@ -210,7 +209,6 @@ Pop-Location
 ### Checkout pinocchio and its submodules, then apply some patches
 if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
   git clone --depth=1 https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
-  git config --global url."https://".insteadOf git://
 }
 Push-Location -Path "$RootDir/pinocchio"
 git reset --hard

build_tools/easy_install_deps_ubuntu.sh

@@ -81,8 +81,8 @@ fi
 # Note that `apt-get` is used instead of `apt` because it supports wildcard in package names
 apt-mark unhold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 apt-get install -y --allow-downgrades --allow-unauthenticated \
-    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.4.1 robotpkg-pinocchio=2.7.0 \
-    robotpkg-py3*-eigenpy=3.3.0 robotpkg-py3*-hpp-fcl=2.4.1 robotpkg-py3*-pinocchio=2.7.0
+    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.4.4 robotpkg-pinocchio=2.7.0 \
+    robotpkg-py3*-eigenpy=3.4.0 robotpkg-py3*-hpp-fcl=2.4.4 robotpkg-py3*-pinocchio=2.7.0
 apt-mark hold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 
 # Add openrobots libraries to python packages search path

python/jiminy_py/setup.py

@@ -1,4 +1,5 @@
 from glob import glob
+from importlib.metadata import version
 from setuptools import setup, dist, find_namespace_packages
 from setuptools.command.install import install
 
@@ -20,6 +21,28 @@ def finalize_options(self) -> None:
             self.install_lib = self.install_platlib
 
 
+# Determine the supported range of numpy versions, assuming that the version
+# currently available was used to compile all C++ extension modules bundled
+# with Jiminy.
+# * Numpy API as limited backward compatibility range based on some complex
+#   logics not following a predefined pattern (since 1.25). See documentation:
+#   https://numpy.org/devdocs/dev/depending_on_numpy.html#build-time-dependency
+# * Numpy API is only minor-version forward compatible
+np_ver = tuple(map(int, version('numpy').split(".", 3)[:2]))
+if np_ver < (1, 25):
+    np_req = f"numpy>={np_ver[0]}.{np_ver[1]}.0"
+    if np_ver < (1, 20):
+        np_req += ",<1.20.0"
+    elif np_ver < (1, 22):
+        np_req += ",!=1.21.0,!=1.21.1,!=1.21.2,!=1.21.3,!=1.21.4"
+else:
+    if np_ver < (2, 1):
+        np_req = "numpy>=1.19"
+    else:
+        raise ImportError("'numpy>2.0' not supported at built-time for now.")
+    np_req += f",<{np_ver[0]}.{np_ver[1] + 1}"
+
+
 setup(
     name="jiminy-py",
     version="@PROJECT_VERSION@",
@@ -77,7 +100,7 @@ def finalize_options(self) -> None:
         # - 1.22 breaks API for compiled libs.
         # - 2.0 is backward compatible up to 1.23, but not forward compatible.
         #   see: https://numpy.org/devdocs/dev/depending_on_numpy.html
-        "numpy>=1.23,<2.0",
+        np_req,
         # Parser for Jiminy's hardware description file.
         "toml",
         # Standalone cross-platform mesh visualizer used as Viewer's backend.