[gym/rllib] Migrate from ray[rllib]==2.5.0 to 2.9.*.

.github/workflows/linux.yml

@@ -66,32 +66,33 @@ 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>=1.21,<2.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
 
         git config --global advice.detachedHead false
     - name: Build jiminy dependencies
       run: |
         BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.12'
+      if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
     - name: Build and install Jiminy
       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}" -Wdev \
+              -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="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (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
 
@@ -103,9 +104,9 @@ 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
@@ -118,46 +119,43 @@ 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 "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib"
-        gdb -batch -ex "run" -ex "bt" --args "${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
 
-        # 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 "$RootDir/python/gym_jiminy/unit_py" -v
+    - name: Run examples for gym jiminy add-on modules
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.12'
+      run: |
+        cd "${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
 
-        # FIXME: Force re-installing the right version of gymnasium
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<0.29"
-
         # mypy is not able to follow `.pth` when checking directories or files.
         # This bug may be fixed in the future. The only workaround is to set `MYPYPATH` manually.
         # Anyway, the stubs generated for eigenpy, hppfcl and pinocchio they are incomplete and
         # even partially wrong, so it is better to ignore them for now.
         # See: https://github.com/python/mypy/issues/14848.
-        cd "$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

.github/workflows/macos.yml

@@ -68,17 +68,17 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
     - name: Build jiminy dependencies
       run: |
         OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
           BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.12'
+      if: matrix.PYTHON_VERSION != '3.13'
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
@@ -90,7 +90,8 @@ jobs:
         mkdir "${RootDir}/build"
         cd "${RootDir}/build"
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
-        cmake "${RootDir}" -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
+        cmake "${RootDir}" -Wdev \
+              -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
               -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
@@ -99,7 +100,7 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${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
 
@@ -140,7 +141,7 @@ 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 }}
@@ -175,28 +176,25 @@ 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 "${RootDir}/python/gym_jiminy/examples/reinforcement_learning/rllib"
+        cd "${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
-
 #########################################################################################
 
   publish-pypi-macos:

.github/workflows/manylinux.yml

@@ -62,7 +62,7 @@ jobs:
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
-        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21,<2.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.23,<2.0"
         "${PYTHON_EXECUTABLE}" -m pip install twine cmake
     - name: Build project dependencies
       run: |
@@ -78,7 +78,8 @@ jobs:
         mkdir "$RootDir/build"
         cd "$RootDir/build"
         export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"
-        cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+        cmake "$RootDir" -Wdev \
+              -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_VERBOSE_MAKEFILE=ON \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \

.github/workflows/ubuntu.yml

@@ -76,12 +76,12 @@ 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>=0.26,<0.29" "importlib-metadata>=3.3.0"
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
 
     #####################################################################################
 
     - 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: |
         "${PYTHON_EXECUTABLE}" -m pip install flake8
         flake8 --ignore=E121,E126,E123,E226,E241,E266,E402,E741,F405,W504 \
@@ -94,7 +94,9 @@ jobs:
         mkdir "${RootDir}/build" "${InstallDir}"
         cd "${RootDir}/build"
 
-        cmake "${RootDir}" -G "${{ matrix.GENERATOR }}" -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
+        cmake "${RootDir}" -Wdev -G "${{ matrix.GENERATOR }}" \
+              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
+              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
               -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DBoost_NO_SYSTEM_PATHS=OFF \
@@ -120,7 +122,9 @@ jobs:
         RootDir="${RootDir}/core/examples/external_project/"
         mkdir -p "${RootDir}/build"
         cd "${RootDir}/build"
-        cmake "${RootDir}" -G "${{ matrix.GENERATOR }}" -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
+        cmake "${RootDir}" -G "${{ matrix.GENERATOR }}" \
+              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
+              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
               -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
               -DCMAKE_PREFIX_PATH="/opt/openrobots/" -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
               -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
@@ -139,26 +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 "${RootDir}/python/gym_jiminy/examples/reinforcement_learning/rllib"
+        cd "${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
-
     #####################################################################################
 
     - 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/"