[misc] Allow failure when installing gym_jiminy addon modules.

duburcqa · Mar 13, 2024 · c48b2d2 · c48b2d2
1 parent 408164f
commit c48b2d2
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Showing 9 changed files with 39 additions and 38 deletions.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -73,10 +73,10 @@ jobs:
       run: |
         BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.12'
+      if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
@@ -91,7 +91,7 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.12' && 'OFF') || 'ON' }} \
+              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make install -j2
 
@@ -127,10 +127,6 @@ jobs:
         gdb -batch -ex "run" -ex "bt" --args "${PYTHON_EXECUTABLE}" acrobot_ppo.py 2>&1 | \
           grep -v ^"No stack."$ && exit 1
 
-        # FIXME: Must install stable_baselines3 after running rllib test
-        # because they require a different version of `gymnasium`.
-        "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
-
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
     - name: Python static type checker
@@ -147,9 +143,6 @@ jobs:
         cd "$RootDir/build"
         make install
 
-        # FIXME: Force re-installing the right version of gymnasium
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0"
-
         # mypy is not able to follow `.pth` when checking directories or files.
         # This bug may be fixed in the future. The only workaround is to set `MYPYPATH` manually.
         # Anyway, the stubs generated for eigenpy, hppfcl and pinocchio they are incomplete and

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -75,10 +75,10 @@ jobs:
         OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
           BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.12'
+      if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
@@ -99,7 +99,7 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.12' && 'OFF') || 'ON' }} \
+              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make -j2
 
@@ -191,10 +191,6 @@ jobs:
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
-        # FIXME: Must install stable_baselines3 after running rllib test
-        # because they require a different version of `gymnasium`.
-        "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
-
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
 #########################################################################################

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -76,7 +76,7 @@ jobs:
           sudo apt install ninja-build
         fi
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
@@ -155,8 +155,6 @@ jobs:
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
-        "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"
-
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
     #####################################################################################

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -63,10 +63,10 @@ jobs:
         ${env:BUILD_TYPE} = "${{ 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 != '3.12'
+      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" "importlib-metadata>=3.3.0"
+        python -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
@@ -94,7 +94,7 @@ jobs:
               -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 == '3.12') && 'OFF') || '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 $(
               ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
@@ -198,10 +198,6 @@ jobs:
         Set-Location -Path "$RootDir/python/gym_jiminy/examples/rllib"
         python acrobot_ppo.py
 
-        # FIXME: Must install stable_baselines3 after running rllib test
-        # because they require a different version of `gymnasium`.
-        python -m pip install "stable_baselines3>=2.0"
-
         python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
 #########################################################################################

diff --git a/build_tools/cmake/setupPython.cmake b/build_tools/cmake/setupPython.cmake
@@ -113,9 +113,10 @@ if(${Boost_MINOR_VERSION} GREATER_EQUAL 67)
     set(Boost_USE_STATIC_LIBS OFF)
     set(Boost_LIB_PREFIX "")
     unset(Boost_LIBRARIES)
-    find_package(Boost REQUIRED COMPONENTS
-                "python${Python_VERSION_MAJOR}${Python_VERSION_MINOR}"
-                "numpy${Python_VERSION_MAJOR}${Python_VERSION_MINOR}")
+    find_package(
+        Boost REQUIRED COMPONENTS
+        "python${Python_VERSION_MAJOR}${Python_VERSION_MINOR}"
+        "numpy${Python_VERSION_MAJOR}${Python_VERSION_MINOR}")
     set(BOOST_PYTHON_LIB "${Boost_LIBRARIES}")
     unset(Boost_LIBRARIES)
     if(WIN32)
@@ -154,13 +155,28 @@ function(deployPythonPackage)
 endfunction()
 
 function(deployPythonPackageDevelop)
-    # The input arguments are [PKG_NAME...]
-    foreach(PKG_NAME IN LISTS ARGN)
+    # The input arguments are [PKG_NAME...], ALLOW_FAILURE
+
+    # Extract the output arguments (see `buildPythonWheel`)
+    set(ARGS ${ARGN})
+    list(LENGTH ARGS NUM_ARGS)
+    if(${NUM_ARGS} LESS 2)
+        message(FATAL_ERROR "Please specify at least one PKG_NAME and ALLOW_FAILURE.")
+    endif()
+    list(GET ARGS -1 ALLOW_FAILURE)
+    list(REMOVE_AT ARGS -1)
+
+    # Loop over all packages sequentially
+    foreach(PKG_NAME IN LISTS ARGS)
         install(CODE "execute_process(COMMAND ${Python_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} -e .
                                       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/${PKG_NAME}
                                       RESULT_VARIABLE RETURN_CODE)
                       if(NOT RETURN_CODE EQUAL 0)
-                          message(FATAL_ERROR \"Python installation of '${PKG_NAME}' failed.\")
+                          if (NOT ${ALLOW_FAILURE})
+                              message(FATAL_ERROR \"Python installation of '${PKG_NAME}' failed.\")
+                          else()
+                              message(WARNING \"Python installation of '${PKG_NAME}' failed.\")
+                          endif()
                       endif()")
     endforeach()
 endfunction()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -109,8 +109,9 @@ if(INSTALL_GYM_JIMINY)
                       "python/gym_${LIBRARY_NAME}/envs"
                       "python/gym_${LIBRARY_NAME}/rllib"
                       "${CMAKE_BINARY_DIR}/pypi/dist/gym_${LIBRARY_NAME}")
-     deployPythonPackageDevelop("python/gym_${LIBRARY_NAME}/common"
-                                "python/gym_${LIBRARY_NAME}/toolbox"
+     deployPythonPackageDevelop("python/gym_${LIBRARY_NAME}/common" FALSE)
+     deployPythonPackageDevelop("python/gym_${LIBRARY_NAME}/toolbox"
                                 "python/gym_${LIBRARY_NAME}/envs"
-                                "python/gym_${LIBRARY_NAME}/rllib")
+                                "python/gym_${LIBRARY_NAME}/rllib"
+                                TRUE)  # ALLOW_FAILURE
 endif()
diff --git a/python/gym_jiminy/common/gym_jiminy/common/bases/pipeline.py b/python/gym_jiminy/common/gym_jiminy/common/bases/pipeline.py
@@ -14,6 +14,7 @@
 from copy import deepcopy
 from abc import abstractmethod
 from collections import OrderedDict
+from collections.abc import MutableMapping
 from itertools import chain
 from typing import (
     Dict, Any, List, Optional, Tuple, Union, Iterable, Generic, TypeVar,

diff --git a/python/gym_jiminy/examples/stable_baselines3/acrobot_ppo.py b/python/gym_jiminy/examples/stable_baselines3/acrobot_ppo.py
@@ -1,5 +1,5 @@
 """Solve the official Open AI Gym Acrobot problem simulated in Jiminy using PPO
-algorithm of Stable_baseline3 reinforcement learning framework.
+algorithm of Stable_baselines3 reinforcement learning framework.
 
 It solves it consistently in less than 100000 timesteps in average, and in
 about 40000 at best.

diff --git a/python/gym_jiminy/examples/stable_baselines3/cartpole_ppo.py b/python/gym_jiminy/examples/stable_baselines3/cartpole_ppo.py
@@ -1,5 +1,5 @@
 """Solve the official Open AI Gym Acrobot problem simulated in Jiminy using PPO
-algorithm of Stable_baseline3 reinforcement learning framework.
+algorithm of Stable_baselines3 reinforcement learning framework.
 
 It solves it consistently in less than 100000 timesteps in average, and in
 about 40000 at best.