[misc] Various minor improvements. (#848)

* [gym_jiminy/common] Clip velocity/acceleration for instantaneously PD target update.
* [gym_jiminy/common] Fix plot of manually registered env variables.
* [python/simulator] Fix replay of extra log files and trajectories.
* [misc] Rename 'mesh_path_dir' in 'mesh_dir_path' for consistency.
* [misc] Cleanup linux build from source script.

.github/workflows/linux.yml

@@ -90,6 +90,7 @@ jobs:
         cd "${RootDir}/build"
         cmake "${RootDir}" -Wdev \
               -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
               -DBOOST_ROOT="$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}" \

build_tools/build_install_deps_unix.sh

@@ -42,7 +42,7 @@ if [ -z ${CXX_COMPILER} ]; then
 fi
 
 ### Set common CMAKE_C/CXX_FLAGS
-CXX_FLAGS="${CXX_FLAGS} -Wno-enum-constexpr-conversion"
+CXX_FLAGS="${CXX_FLAGS} -Wno-unknown-warning-option -Wno-enum-constexpr-conversion"
 if [ "${BUILD_TYPE}" == "Release" ]; then
   CXX_FLAGS="${CXX_FLAGS} -DNDEBUG -O3"
 elif [ "${BUILD_TYPE}" == "Debug" ]; then
@@ -94,19 +94,17 @@ unset Boost_ROOT
 #   - Boost >= 1.75 is required to compile ouf-of-the-box on MacOS for intel and Apple Silicon
 #   - Boost < 1.77 causes compilation failure with gcc-12 if not patched
 #   - Boost >= 1.77 affects the memory layout to improve alignment, breaking retro-compatibility
-#   - Boost.Python == 1.87 fixes memory alignment issues (commit 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8)
+#   - Boost.Python == 1.87 fixes memory alignment issues
 if [ ! -d "${RootDir}/boost" ]; then
   git clone --depth 1 https://github.com/boostorg/boost.git "${RootDir}/boost"
 fi
 rm -rf "${RootDir}/boost/build"
 mkdir -p "${RootDir}/boost/build"
 cd "${RootDir}/boost"
 git reset --hard
-git fetch origin "boost-1.86.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "boost-1.87.0" && 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
-cd "${RootDir}/boost/libs/python"
-git fetch origin 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8 && git checkout --force FETCH_HEAD || true
 
 ### Checkout eigen3
 if [ ! -d "${RootDir}/eigen3" ]; then
@@ -245,7 +243,9 @@ PATH="${PATH}:$(dirname -- ${C_COMPILER})"
 
 ### Build and install the build tool b2 (build-ception !)
 cd "${RootDir}/boost"
-./bootstrap.sh --prefix="${InstallDir}" --with-python="${PYTHON_EXECUTABLE}"
+./bootstrap.sh --with-toolset="$(basename -- ${C_COMPILER})" \
+               --prefix="${InstallDir}" \
+               --with-python="${PYTHON_EXECUTABLE}"
 
 ### File "project-config.jam" create by bootstrap must be edited manually
 #   to specify Python include dir manually, since it is not detected
@@ -258,6 +258,9 @@ ${PYTHON_CONFIG_JAM}
 
 ### Build and install and install boost
 #   (Replace -d0 option by -d1 and remove -q option to check compilation errors)
+if [[ ${OSX_ARCHITECTURES} == *";"* ]] ; then
+  ArchB2="arm+x86"
+fi
 if [ "${BUILD_TYPE}" == "Release" ]; then
   BuildTypeB2="release"
 elif [ "${BUILD_TYPE}" == "Debug" ]; then
@@ -281,7 +284,7 @@ fi
 ./b2 --prefix="$InstallDir" --build-dir="$RootDir/boost/build" \
      --debug-configuration \
      --clean-all \
-     architecture= address-model=64 \
+     architecture="$ArchB2" address-model=64 \
      variant="$BuildTypeB2"
 
 # Compiling everything with static linkage except Boost::Python
@@ -290,7 +293,7 @@ mkdir -p "${RootDir}/boost/build"
      --with-chrono --with-timer --with-date_time --with-system --with-test \
      --with-filesystem --with-atomic --with-serialization --with-thread \
      --build-type=minimal --layout=system --lto=on \
-     architecture= address-model=64 $DebugOptionsB2 \
+     architecture="$ArchB2" address-model=64 $DebugOptionsB2 \
      threading=single link=static runtime-link=static \
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2}" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2}" \
@@ -302,7 +305,7 @@ mkdir -p "${RootDir}/boost/build"
 ./b2 --prefix="${InstallDir}" --build-dir="${RootDir}/boost/build" \
      --with-python \
      --build-type=minimal --layout=system --lto=on \
-     architecture= address-model=64 $DebugOptionsB2 \
+     architecture="$ArchB2" address-model=64 $DebugOptionsB2 \
      threading=single link=shared runtime-link=shared \
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2} -DNDEBUG" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2} " \
@@ -450,7 +453,7 @@ cmake "${RootDir}/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DENABLE_PYTHON_DOXYGEN_AUTODOC=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} $(
       ) -Wno-unused-parameter -Wno-class-memaccess -Wno-sign-compare-Wno-conversion -Wno-ignored-qualifiers $(
-      ) -Wno-uninitialized -Wno-maybe-uninitialized -Wno-deprecated-copy -Wno-unknown-warning-option $(
+      ) -Wno-uninitialized -Wno-maybe-uninitialized -Wno-deprecated-copy $(
       ) -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
 make install -j4
 
@@ -472,7 +475,7 @@ cmake "${RootDir}/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_WITH_OPENMP_SUPPORT=OFF -DGENERATE_PYTHON_STUBS=OFF -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -DBOOST_BIND_GLOBAL_PLACEHOLDERS $(
       ) -Wno-uninitialized -Wno-type-limits -Wno-unused-local-typedefs -Wno-extra $(
-      ) -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+      ) -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
 make install -j4
 
 # Copy cmake configuration files for cppad and cppadcodegen

build_tools/build_install_deps_windows.ps1

@@ -103,14 +103,10 @@ if (Test-Path -PathType Container "$RootDir/boost/build") {
 New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
 Push-Location -Path "$RootDir/boost"
 git reset --hard
-git fetch origin "boost-1.86.0"
+git fetch origin "boost-1.87.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-Push-Location -Path "$RootDir/boost/libs/python"
-git fetch origin 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8
-git checkout --force FETCH_HEAD
-Pop-Location
 
 ### Checkout eigen3
 #   A specific commit from Aug 25, 2021 (post 3.4.0) fixes CXX STANDARD detection with MSVC

python/gym_jiminy/common/gym_jiminy/common/blocks/proportional_derivative_controller.py

@@ -206,10 +206,28 @@ def pd_adapter(action: np.ndarray,
     if is_instantaneous:
         # Update the command state directly
         if order == 0:
+            # Compute command velocity
+            velocity = (action - command_state[0]) / dt
+
+            # Clip command velocity
+            velocity = np.minimum(np.maximum(
+                velocity, command_state_lower[1]), command_state_upper[1])
+
+            # Update command position instantaneously
             command_state[0] = action
             command_state[1] = 0.0
         else:
-            command_state[1] = action
+            # Compute command acceleration
+            acceleration = (action - command_state[1]) / dt
+
+            # Clip command acceleration
+            acceleration = np.minimum(np.maximum(
+                acceleration, command_state_lower[2]), command_state_upper[2])
+
+            # Update command velocity instantaneously
+            command_state[1] += acceleration * dt
+
+        # Hold the acceleration constant equal to zero
         out[:] = 0.0
     else:
         if order == 0:

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -961,7 +961,7 @@ def plot(self,
                 tab_name = " ".join(filter(None, (base_name, group)))
                 value_map = extract_variables_from_log(
                     log_vars, subfieldnames, "controller", as_dict=True)
-                tab_data = {key.split(".", 2)[2]: value
+                tab_data = {key.split(".", 2)[-1]: value
                             for key, value in value_map.items()}
 
                 grid_spec: Tuple[Optional[int], Optional[int]] = (None, None)

python/gym_jiminy/common/gym_jiminy/common/envs/locomotion.py

@@ -77,7 +77,7 @@ class WalkerJiminyEnv(BaseJiminyEnv):
     def __init__(self,
                  urdf_path: Optional[str],
                  hardware_path: Optional[str] = None,
-                 mesh_path_dir: Optional[str] = None,
+                 mesh_dir_path: Optional[str] = None,
                  simulation_duration_max: float = DEFAULT_SIMULATION_DURATION,
                  step_dt: float = DEFAULT_STEP_DT,
                  reward_mixture: Optional[dict] = None,
@@ -94,7 +94,7 @@ def __init__(self,
         :param hardware_path: Path of Jiminy hardware description toml file.
                               Optional: Looking for '\*_hardware.toml' file in
                               the same folder and with the same name.
-        :param mesh_path_dir: Path to the folder containing the model meshes.
+        :param mesh_dir_path: Path to the folder containing the model meshes.
                               Optional: Env variable 'JIMINY_DATA_PATH' will be
                               used if available.
         :param simulation_duration_max: Maximum duration of a simulation before
@@ -123,7 +123,7 @@ def __init__(self,
                       enables telemetry recording.
         :param robot: Robot being simulated, already instantiated and
                       initialized. Build default robot using 'urdf_path',
-                      'hardware_path' and 'mesh_path_dir' if omitted.
+                      'hardware_path' and 'mesh_dir_path' if omitted.
                       Optional: None by default.
         :param viewer_kwargs: Keyword arguments used to override the original
                               default values whenever a viewer is instantiated.
@@ -155,7 +155,7 @@ def __init__(self,
         # Backup user arguments
         self.reward_mixture = reward_mixture
         self.urdf_path = urdf_path
-        self.mesh_path_dir = mesh_path_dir
+        self.mesh_dir_path = mesh_dir_path
         self.hardware_path = hardware_path
         self.config_path = config_path
         self.std_ratio = std_ratio
@@ -174,7 +174,7 @@ def __init__(self,
             simulator = Simulator.build(
                 urdf_path=self.urdf_path,
                 hardware_path=self.hardware_path,
-                mesh_path_dir=self.mesh_path_dir,
+                mesh_dir_path=self.mesh_dir_path,
                 config_path=self.config_path,
                 avoid_instable_collisions=self.avoid_instable_collisions,
                 debug=debug,

python/gym_jiminy/envs/gym_jiminy/envs/anymal.py

@@ -67,7 +67,7 @@ def __init__(self, debug: bool = False, **kwargs: Any) -> None:
         # Initialize the walker environment
         super().__init__(
             urdf_path=urdf_path,
-            mesh_path_dir=data_dir,
+            mesh_dir_path=data_dir,
             avoid_instable_collisions=True,
             debug=debug,
             **{**dict(

python/gym_jiminy/envs/gym_jiminy/envs/atlas.py

@@ -131,7 +131,7 @@ def __init__(self, debug: bool = False, **kwargs: Any) -> None:
         # Initialize the walker environment
         super().__init__(
             urdf_path=urdf_path,
-            mesh_path_dir=data_dir,
+            mesh_dir_path=data_dir,
             avoid_instable_collisions=True,
             debug=debug,
             **{**dict(
@@ -220,7 +220,7 @@ def joint_position_index(joint_name: str) -> int:
         super().__init__(
             robot=robot,
             urdf_path=urdf_path,
-            mesh_path_dir=data_dir,
+            mesh_dir_path=data_dir,
             avoid_instable_collisions=True,
             debug=debug,
             **{**dict(

python/gym_jiminy/envs/gym_jiminy/envs/cassie.py

@@ -111,7 +111,7 @@ def __init__(self, debug: bool = False, **kwargs: Any) -> None:
         super().__init__(
             robot=robot,
             urdf_path=urdf_path,
-            mesh_path_dir=data_dir,
+            mesh_dir_path=data_dir,
             avoid_instable_collisions=True,
             debug=debug,
             **{**dict(

python/gym_jiminy/envs/gym_jiminy/envs/digit.py

@@ -130,7 +130,7 @@ def __init__(self, debug: bool = False, **kwargs: Any) -> None:
         super().__init__(
             robot=robot,
             urdf_path=urdf_path,
-            mesh_path_dir=data_dir,
+            mesh_dir_path=data_dir,
             avoid_instable_collisions=True,
             debug=debug,
             **{**dict(

python/gym_jiminy/rllib/gym_jiminy/rllib/utilities.py

@@ -897,9 +897,11 @@ def _sample_one_episode_and_collect_metrics(worker: EnvRunner) -> Tuple[
     for env in worker.env.envs:
         env.unwrapped.log_path = None
 
-    # Run a single episode and extract the path of the log file.
+    # Run a single episode.
     # Note that episodes are sorted by environment indices by design.
     episodes = worker.sample(num_episodes=1, random_actions=False)
+
+    # Extract the path of the log files
     log_paths: Tuple[str, ...] = tuple(
         filter(None, worker.env.get_attr('log_path')))
 
@@ -1218,8 +1220,8 @@ def evaluate_from_algo(algo: Algorithm,
         _pretty_print_episode_metrics(all_episodes, step_dt)
 
     # Backup only the log file corresponding to the best and worst trial
-    all_returns = np.array([
-        episode.get_return() for episode in all_episodes])
+    all_returns = [
+        episode.get_return() for episode in all_episodes]
     idx_worst, idx_best = np.argsort(all_returns)[[0, -1]]
     log_labels, log_paths = [], []
     for label, idx in (

python/jiminy_py/src/jiminy_py/dynamics.py

@@ -648,30 +648,30 @@ def compute_transform_contact(
     collision_model = robot.collision_model
 
     # Compute the transform in the world of the contact points
-    contact_frames_transform = []
+    contact_frame_transforms = []
     for frame_index in robot.contact_frame_indices:
         transform = robot.pinocchio_data.oMf[frame_index]
-        contact_frames_transform.append(transform)
+        contact_frame_transforms.append(transform)
 
     # Compute the transform of the ground at these points
     if ground_profile is not None:
         contact_ground_transform = []
         ground_pos = np.zeros(3)
-        for frame_transform in contact_frames_transform:
+        for frame_transform in contact_frame_transforms:
             ground_pos[2], normal = ground_profile(
                 frame_transform.translation[:2])
             ground_rot = pin.Quaternion.FromTwoVectors(
                 np.array([0.0, 0.0, 1.0]), normal).matrix()
             contact_ground_transform.append(pin.SE3(ground_rot, ground_pos))
     else:
         contact_ground_transform = [
-            pin.SE3.Identity() for _ in contact_frames_transform]
+            pin.SE3.Identity() for _ in contact_frame_transforms]
 
     # Compute the position and normal of the contact points wrt their
     # respective ground transform.
     contact_frames_pos_rel = []
     for frame_transform, ground_transform in \
-            zip(contact_frames_transform, contact_ground_transform):
+            zip(contact_frame_transforms, contact_ground_transform):
         transform_rel = ground_transform.actInv(frame_transform)
         contact_frames_pos_rel.append(transform_rel.translation)
 
@@ -707,7 +707,7 @@ def compute_transform_contact(
     rot_offset = pin.Quaternion.FromTwoVectors(
         normal_offset, np.array([0.0, 0.0, 1.0])).matrix()
     if contact_frames_pos_rel:
-        contact_frame_pos = contact_frames_transform[
+        contact_frame_pos = contact_frame_transforms[
             contact_frames_order[0]].translation
         pos_shift = (
             rot_offset @ contact_frame_pos)[2] - contact_frame_pos[2]

python/jiminy_py/src/jiminy_py/log.py

@@ -86,7 +86,7 @@ def extract_variables_from_log(log_vars: Dict[str, np.ndarray],
 
 def build_robot_from_log(
         log_data: Dict[str, Any],
-        mesh_path_dir: Optional[str] = None,
+        mesh_dir_path: Optional[str] = None,
         mesh_package_dirs: Sequence[str] = (),
         *, robot_name: Optional[str] = None
         ) -> jiminy.Robot:
@@ -107,7 +107,7 @@ def build_robot_from_log(
         the name for each of them.
 
     :param log_data: Logged data (constants plus variables) as a dictionary.
-    :param mesh_path_dir: Overwrite the common root of all absolute mesh paths.
+    :param mesh_dir_path: Overwrite the common root of all absolute mesh paths.
                           It may be necessary to read logs generated on
                           different environments.
     :param mesh_package_dirs: Prepend custom mesh package search path
@@ -144,12 +144,12 @@ def build_robot_from_log(
 
     # Load robot from binary data
     return jiminy.load_from_binary(
-        robot_data, mesh_path_dir, mesh_package_dirs)
+        robot_data, mesh_dir_path, mesh_package_dirs)
 
 
 def build_robots_from_log(
         log_data: Dict[str, Any],
-        mesh_path_dir: Optional[str] = None,
+        mesh_dir_path: Optional[str] = None,
         mesh_package_dirs: Sequence[str] = (),
         ) -> Sequence[jiminy.Robot]:
     """Build all the robots in the log of the simulation.
@@ -159,7 +159,7 @@ def build_robots_from_log(
         available robot. Refer to `build_robot_from_log` for more information.
 
     :param log_data: Logged data (constants and variables) as a dictionary.
-    :param mesh_path_dir: Overwrite the common root of all absolute mesh paths.
+    :param mesh_dir_path: Overwrite the common root of all absolute mesh paths.
                           It which may be necessary to read log generated on a
                           different environment.
     :param mesh_package_dirs: Prepend custom mesh package search path
@@ -180,7 +180,7 @@ def build_robots_from_log(
     robots = []
     for robot_name in robot_names:
         robot = build_robot_from_log(
-            log_data, mesh_path_dir, mesh_package_dirs, robot_name=robot_name)
+            log_data, mesh_dir_path, mesh_package_dirs, robot_name=robot_name)
         robots.append(robot)
 
     return robots