[misc] Run all unit tests for gym jiminy base modules on Python 3.12 …

…and Debug.
duburcqa · Mar 14, 2024 · ea3b8fe · ea3b8fe
1 parent 9a31ca4
commit ea3b8fe
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Showing 12 changed files with 100 additions and 74 deletions.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -84,9 +84,9 @@ jobs:
       run: |
         unset Boost_ROOT
 
-        mkdir "$RootDir/build"
-        cd "$RootDir/build"
-        cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+        mkdir "${RootDir}/build"
+        cd "${RootDir}/build"
+        cmake "${RootDir}" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
@@ -103,9 +103,9 @@ jobs:
       run: |
         "$InstallDir/bin/jiminy_double_pendulum"
 
-        mkdir -p "$RootDir/core/examples/external_project/build"
-        cd "$RootDir/core/examples/external_project/build"
-        cmake "$RootDir/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+        mkdir -p "${RootDir}/core/examples/external_project/build"
+        cd "${RootDir}/core/examples/external_project/build"
+        cmake "${RootDir}/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
               -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make install
@@ -118,39 +118,43 @@ jobs:
       run: |
         ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
-        "${PYTHON_EXECUTABLE}" -m unittest discover -s "$RootDir/python/jiminy_py/unit_py" -v
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v
 
-    - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.12'
+    - name: Run unit tests for gym jiminy base module
       run: |
-        cd "$RootDir/python/gym_jiminy/examples/rllib"
-        gdb -batch -ex "run" -ex "bt" --args "${PYTHON_EXECUTABLE}" acrobot_ppo.py 2>&1 | \
-          grep -v ^"No stack."$ && exit 1
+        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
+          export JIMINY_BUILD_DEBUG=
+        fi
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
-        "${PYTHON_EXECUTABLE}" -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
+    - name: Run examples for gym jiminy add-on modules
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.12'
+      run: |
+        cd "${RootDir}/python/gym_jiminy/examples/rllib"
+        "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
     - name: Python static type checker
-      if: matrix.PYTHON_VERSION == '3.8' && matrix.BUILD_TYPE == 'Release'
+      if: matrix.PYTHON_VERSION == '3.8' && matrix.BUILD_TYPE != 'Debug'
       run: |
         # Generate stubs
-        stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src
-        "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/stub_gen.py" \
-          -o $RootDir/build/stubs --ignore-invalid=all jiminy_py
-        cp $RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi \
-           $RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
+        stubgen -p jiminy_py -o ${RootDir}/build/pypi/jiminy_py/src
+        "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/stub_gen.py" \
+          -o ${RootDir}/build/stubs --ignore-invalid=all jiminy_py
+        cp ${RootDir}/build/stubs/jiminy_py-stubs/core/__init__.pyi \
+           ${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
 
         # Re-install jiminy with stubs
-        cd "$RootDir/build"
+        cd "${RootDir}/build"
         make install
 
         # 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
         # even partially wrong, so it is better to ignore them for now.
         # See: https://github.com/python/mypy/issues/14848.
-        cd "$RootDir/python/jiminy_py/"
-        mypy --config-file="$RootDir/.mypy.ini" -p src
+        cd "${RootDir}/python/jiminy_py/"
+        mypy --config-file="${RootDir}/.mypy.ini" -p src
         for name in "common" "envs" "toolbox" "rllib"; do
-          cd "$RootDir/python/gym_jiminy/$name"
-          mypy --config-file="$RootDir/.mypy.ini" -p gym_jiminy
+          cd "${RootDir}/python/gym_jiminy/$name"
+          mypy --config-file="${RootDir}/.mypy.ini" -p gym_jiminy
         done
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -140,7 +140,7 @@ jobs:
             -p "macosx_${OSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl
         "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl
     - name: Upload the wheel for Linux of jiminy_py
-      if: matrix.BUILD_TYPE == 'Release'
+      if: matrix.BUILD_TYPE != 'Debug'
       uses: actions/upload-artifact@v4
       with:
         name: wheelhouse-${{ matrix.PYTHON_VERSION }}
@@ -175,24 +175,25 @@ jobs:
         cd "${RootDir}/python/jiminy_py/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v
 
-    - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE != 'Release'
+    - name: Run unit tests for gym jiminy base module
       run: |
-        # Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is failing
-        # for 'panda3d-sync' backend due to meshes still loading at screenshot time.
-        cd "${RootDir}/python/gym_jiminy/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest test_pipeline_design.py -v
+        export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
+
+        # FIXME: Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is
+        # failing for 'panda3d-sync' backend due to meshes still loading at screenshot time.
+        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
+          export JIMINY_BUILD_DEBUG=
+        fi
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
-    - name: Run unit tests for gym jiminy
-      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.12'
+    - name: Run examples for gym jiminy add-on modules
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.12'
       run: |
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
 
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
-        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
-
 #########################################################################################
 
   publish-pypi-macos:

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -81,7 +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 != 'Debug' && matrix.COMPILER == 'gcc'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install flake8
         flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \
@@ -143,24 +143,23 @@ jobs:
 
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v
 
-    - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE != 'Release'
+    - name: Run unit tests for gym jiminy base module
       run: |
-        cd "${RootDir}/python/gym_jiminy/unit_py"
-        "${PYTHON_EXECUTABLE}" -m unittest test_pipeline_control.py test_pipeline_design.py -v
+        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
+          export JIMINY_BUILD_DEBUG=
+        fi
+        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
-    - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE == 'Release'
+    - name: Run examples for gym jiminy add-on modules
+      if: matrix.BUILD_TYPE != 'Debug'
       run: |
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
-        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
-
     #####################################################################################
 
     - 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 != 'Debug' && matrix.COMPILER == 'gcc'
       run: |
         cd "${RootDir}/python/jiminy_py/"
         pylint --rcfile="${RootDir}/.pylintrc" "src/"

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -141,7 +141,7 @@ jobs:
             python -m pip install --force-reinstall --no-deps $wheel_path
         }
     - name: Upload the wheel for Windows of jiminy_py
-      if: matrix.BUILD_TYPE == 'Release'
+      if: matrix.BUILD_TYPE != 'Debug'
       uses: actions/upload-artifact@v4
       with:
         name: wheelhouse-${{ matrix.PYTHON_VERSION }}
@@ -182,24 +182,26 @@ jobs:
 
         python -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v
 
-    - name: Run unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE != 'Release'
+    - name: Run unit tests for gym jiminy base module
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
 
-        Set-Location -Path "$RootDir/python/gym_jiminy/unit_py"
-        python -m unittest test_pipeline_control.py test_pipeline_design.py -v
+        if ("${{ matrix.BUILD_TYPE }}" -eq "Debug") {
+          ${env:JIMINY_BUILD_DEBUG} = 1
+        }
+        python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
-    - name: Running unit tests for gym_jiminy
-      if: matrix.BUILD_TYPE == 'Release' && matrix.PYTHON_VERSION != '3.12'
+    - name: Run examples for gym jiminy add-on modules
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.11' && matrix.PYTHON_VERSION != '3.12'
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
 
+        # FIXME: Python 3.11 was not supported by ray on Windows until very recently.
+        # It has been fixed on master but not on the latest available release (2.93).
+        # See: https://github.com/ray-project/ray/pull/42097
         Set-Location -Path "$RootDir/python/gym_jiminy/examples/rllib"
         python acrobot_ppo.py
 
-        python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
-
 #########################################################################################
 
   publish-pypi-win10:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,6 +4,18 @@ cmake_minimum_required(VERSION 3.12.4)
 # Set the build version (specify a tweak version to indicated post-release if needed)
 set(BUILD_VERSION 1.8.3)
 
+# MSVC runtime library flags are defined by 'CMAKE_MSVC_RUNTIME_LIBRARY'
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.15.7)
+    cmake_policy(SET CMP0091 NEW)
+    set(CMAKE_POLICY_DEFAULT_CMP0091 NEW)
+endif()
+
+# Set find_package strategy to look for both upper-case and case-preserved variables
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.27.0)
+    cmake_policy(SET CMP0144 NEW)
+    set(CMAKE_POLICY_DEFAULT_CMP0144 NEW)
+endif()
+
 # Set compatibility
 set(COMPATIBILITY_VERSION SameMinorVersion)
 

diff --git a/build_tools/cmake/base.cmake b/build_tools/cmake/base.cmake
@@ -1,16 +1,6 @@
 # Minimum version required
 cmake_minimum_required(VERSION 3.12.4)
 
-# MSVC runtime library flags are defined by 'CMAKE_MSVC_RUNTIME_LIBRARY'
-if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.15.7)
-    cmake_policy(SET CMP0091 NEW)
-endif()
-
-# Set find_package strategy to look for both upper-case and case-preserved variables
-if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.27.0)
-    cmake_policy(SET CMP0144 NEW)
-endif()
-
 # Forces GCC/Clang compilers to enable color diagnostics.
 # CMake versions 3.24 and below do not support this option, so we have
 # to invoke the color diagnostics flags manually.

diff --git a/build_tools/cmake/setupPython.cmake b/build_tools/cmake/setupPython.cmake
@@ -55,7 +55,8 @@ else()
                     OUTPUT_VARIABLE HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB)
 endif()
 
-set(PYTHON_INSTALL_FLAGS " --no-warn-script-location --prefer-binary ")
+# Libraries not distributed as wheel must be explicitly whitelisted via '--no-binary'.
+set(PYTHON_INSTALL_FLAGS " --no-warn-script-location --only-binary :all:")
 if(${HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB})
     set(PYTHON_INSTALL_FLAGS "${PYTHON_INSTALL_FLAGS} --user ")
     message(STATUS "No right on Python system site-packages: ${Python_SYS_SITELIB}.\n"
@@ -168,14 +169,15 @@ function(deployPythonPackageDevelop)
 
     # 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 .
+        install(CODE "cmake_policy(SET CMP0012 NEW)
+                      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)
-                          if (NOT ${ALLOW_FAILURE})
-                              message(FATAL_ERROR \"Python installation of '${PKG_NAME}' failed.\")
+                      if(RETURN_CODE AND NOT RETURN_CODE EQUAL 0)
+                          if (${ALLOW_FAILURE})
+                              message(AUTHOR_WARNING \"Python installation of '${PKG_NAME}' failed.\")
                           else()
-                              message(WARNING \"Python installation of '${PKG_NAME}' failed.\")
+                              message(FATAL_ERROR \"Python installation of '${PKG_NAME}' failed.\")
                           endif()
                       endif()")
     endforeach()

diff --git a/python/gym_jiminy/rllib/setup.py b/python/gym_jiminy/rllib/setup.py
@@ -35,7 +35,7 @@
         # * <1.6.0: GPU detection must be patched to work
         # * > 2.5.0: multi-GPU support
         # * 1.11.0 / 2.2.0 / 2.5.0 / 2.9.0: Breaking changes
-        "ray[default,rllib]~=2.9.0",
+        "ray[rllib]~=2.9.0",
         # Used for monitoring (logging and publishing) learning progress
         "tensorboardX",
         # Plot data directly in terminal to monitor stats without X-server

diff --git a/python/gym_jiminy/unit_py/test_deformation_estimator.py b/python/gym_jiminy/unit_py/test_deformation_estimator.py
@@ -16,6 +16,9 @@
 from gym_jiminy.envs import AntJiminyEnv
 
 
+DEBUG = "JIMINY_BUILD_DEBUG" in os.environ
+
+
 class DeformationEstimatorBlock(unittest.TestCase):
     """ TODO: Write documentation
     """
@@ -102,7 +105,7 @@ def test_arm(self):
         simulator.engine.set_options(engine_options)
 
         # Instantiate the environment
-        env = BaseJiminyEnv(simulator, step_dt=0.01)
+        env = BaseJiminyEnv(simulator, step_dt=0.01, debug=DEBUG)
 
         # Add controller and observer blocks
         pd_controller = PDController(
@@ -243,7 +246,7 @@ def _setup(self) -> None:
         )
 
         # Instantiate the environment
-        env = PipelineEnv()
+        env = PipelineEnv(debug=DEBUG)
 
         # Run a simulation
         env.reset(seed=0)

diff --git a/python/gym_jiminy/unit_py/test_pipeline_control.py b/python/gym_jiminy/unit_py/test_pipeline_control.py
@@ -2,6 +2,7 @@
 """
 import os
 import io
+import sys
 import base64
 import logging
 import unittest
@@ -29,6 +30,9 @@
 # Small tolerance for numerical equality
 TOLERANCE = 1.0e-6
 
+# Skip some tests if Jiminy has been compiled in debug on Mac OS
+DEBUG = "JIMINY_BUILD_DEBUG" in os.environ
+
 
 class PipelineControl(unittest.TestCase):
     """ TODO: Write documentation
@@ -101,6 +105,8 @@ def _test_pid_standing(self):
         self.assertTrue(np.all(
             np.abs(velocity_mes[time > time[-1] - 1.0]) < 1.0e-3))
 
+    @unittest.skipIf(DEBUG and sys.platform == "darwin",
+                     "skipping when compiled in debug on Mac OS")
     def test_pid_standing(self):
         for backend in ('panda3d-sync', 'meshcat'):
             for Env in (AtlasPDControlJiminyEnv,

diff --git a/python/gym_jiminy/unit_py/test_training_toys_models.py b/python/gym_jiminy/unit_py/test_training_toys_models.py
@@ -2,6 +2,7 @@
 low-level Jiminy engine, to the Gym environment integration. However, it does
 not assessed that the viewer is working properly.
 """
+import os
 import unittest
 from typing import Optional, Dict, Any
 
@@ -14,9 +15,13 @@
 from utilities import train
 
 
+# Fix the seed and number of threads for CI stability
 SEED = 0
 N_THREADS = 5
 
+# Skip some tests if Jiminy has been compiled in debug
+DEBUG = "JIMINY_BUILD_DEBUG" in os.environ
+
 
 class ToysModelsStableBaselinesPPO(unittest.TestCase):
     """Solve several official Open AI Gym toys models problems simulated in
@@ -89,6 +94,7 @@ def _ppo_training(cls,
         # Run the learning process
         return train(train_agent, test_env, max_timesteps=200000)
 
+    @unittest.skipIf(DEBUG, "skipping when compiled in debug")
     def test_acrobot_stable_baselines(self):
         """Solve acrobot for both continuous and discrete action spaces.
         """
@@ -97,6 +103,7 @@ def test_acrobot_stable_baselines(self):
         self.assertTrue(self._ppo_training(
             "gym_jiminy.envs:acrobot", {'continuous': False}))
 
+    @unittest.skipIf(DEBUG, "skipping when compiled in debug")
     def test_cartpole_stable_baselines(self):
         """Solve cartpole for both continuous and discrete action spaces.
         """

diff --git a/python/jiminy_pywrap/CMakeLists.txt b/python/jiminy_pywrap/CMakeLists.txt
@@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 3.12.4)
 # Project name
 project(${LIBRARY_NAME}_pywrap VERSION ${BUILD_VERSION})
 
-# Find libraries and headers.
+# Find libraries and headers
 find_package(eigenpy 2.9.0 REQUIRED NO_MODULE NO_CMAKE_SYSTEM_PATH)  # >=2.9.0 fully support vectorization
 
 # Enable all warnings