[misc] Various minor fixes and improvements. (#227)

Co-authored-by: Alexis Duburcq <[email protected]>

.github/workflows/manylinux.yml

@@ -84,7 +84,7 @@ jobs:
         cd "$RootDir/build"
         cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
 
-        auditwheel repair -w "$RootDir/build/wheelhouse" "$RootDir"/build/pypi/jiminy_py/dist/*.whl
+        auditwheel repair -w "$RootDir/build/wheelhouse" "$RootDir"/build/pypi/dist/jiminy_py/*.whl
         "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir"/build/wheelhouse/*.whl
     - name: Upload the wheel for Linux of Jiminy_py
       if: success() && github.repository == 'Wandercraft/jiminy'
@@ -112,11 +112,11 @@ jobs:
       with:
         user: __token__
         password: ${{ secrets.PYPI_DEPLOY }}
-        packages_dir: build/wheelhouse/
+        packages_dir: build/wheelhouse
     - name: Publish on PyPi the wheel of Gym Jiminy (Any platform / Any python3 version)
       if: matrix.PYTHON_VERSION == '3.6' && success() && github.repository == 'Wandercraft/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
       uses: pypa/gh-action-pypi-publish@master
       with:
         user: __token__
         password: ${{ secrets.PYPI_DEPLOY }}
-        packages_dir: build/pypi/gym_jiminy/
+        packages_dir: build/pypi/dist/gym_jiminy

.github/workflows/win.yml

@@ -98,7 +98,7 @@ jobs:
 
         python -m pip install pefile machomachomangler
         Remove-Item -Recurse -Path "$RootDir/build/pypi" -Include *.tar.gz
-        Get-ChildItem -Recurse -Path "$RootDir/build/pypi" -Filter *.whl |
+        Get-ChildItem -Recurse -Path "$RootDir/build/pypi/dist/jiminy_py" -Filter *.whl |
         Foreach-Object {
             $wheel_path = ($_.FullName)
             python "$RootDir/build_tools/wheel_repair.py" "$wheel_path" -d "$InstallDir/lib" -w "$RootDir/build/wheelhouse"

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.4.9)
+set(BUILD_VERSION 1.4.10)
 
 # Add definition of Jiminy version for C++ headers
 add_definitions("-DJIMINY_VERSION=\"${BUILD_VERSION}\"")

README.md

@@ -25,8 +25,8 @@ Beside a strong focus on performance to answer machine learning's need for runni
 - Designed with machine learning in mind, with seemless wrapping of robots in `gym` environments using one-liners. Jiminy provides both the physical engine and the robot model (including sensors) required for learning.
 - Easy to install: `pip` is all that is needed to [get you started](#getting-started) !
 - Dedicated integration in jupyter notebook working out-of-the-box - including 3D rendering using [Meshcat](https://github.com/rdeits/MeshCat.jl). This facilitates working on remote headless environnement such as machine learning clusters.
-- Rich simulation log output, easily customizable for recording, introspection and debugging. The simulation log is made available in RAM directly for fast access, and can be exported in raw binary, CSV or HDF5 format.
-- Available for both Linux and Windows platform.
+- Rich simulation log output, easily customizable for recording, introspection and debugging. The simulation log is made available in RAM directly for fast access, and can be exported in raw binary, CSV or [HDF5](https://portal.hdfgroup.org/display/HDF5/Introduction+to+HDF5) format.
+- Available for both Linux and Windows platforms.
 
 ### Physics
 
@@ -56,7 +56,7 @@ Pre-configured environments for some well-known toys models and reference roboti
 
 ## Getting started
 
-Jiminy is compatible with Linux and Windows and supports Python3.6+. Jiminy is distributed on PyPi for Python 3.6/3.7/3.8 on Linux and Windows, and can be installed using `pip`:
+Jiminy is compatible with Linux and Windows and supports Python3.6+. Jiminy is distributed on PyPi for Python 3.6/3.7/3.8 on Linux and Windows 10, and can be installed using `pip`:
 
 ```bash
 python -m pip install jiminy_py

build_tools/cmake/base.cmake

@@ -126,8 +126,8 @@ if(BUILD_PYTHON_INTERFACE)
                     OUTPUT_VARIABLE PYTHON_SYS_SITELIB)
     message(STATUS "Python system site-packages: ${PYTHON_SYS_SITELIB}")
     execute_process(COMMAND "${PYTHON_EXECUTABLE}" -m site --user-site
-                OUTPUT_STRIP_TRAILING_WHITESPACE
-                OUTPUT_VARIABLE PYTHON_USER_SITELIB)
+                    OUTPUT_STRIP_TRAILING_WHITESPACE
+                    OUTPUT_VARIABLE PYTHON_USER_SITELIB)
     message(STATUS "Python user site-package: ${PYTHON_USER_SITELIB}")
 
     # Check write permissions on Python system site-package to
@@ -142,7 +142,7 @@ if(BUILD_PYTHON_INTERFACE)
         set(HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB FALSE)
     endif()
 
-    set(PYTHON_INSTALL_FLAGS "--upgrade --use-feature=2020-resolver ")
+    set(PYTHON_INSTALL_FLAGS "--use-feature=2020-resolver ")
     if(${HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB})
         set(PYTHON_INSTALL_FLAGS "${PYTHON_INSTALL_FLAGS} --user ")
         set(PYTHON_SITELIB "${PYTHON_USER_SITELIB}")
@@ -208,6 +208,8 @@ if(BUILD_PYTHON_INTERFACE)
         # The input arguments are [TARGET_NAME...]
         foreach(TARGET_NAME IN LISTS ARGN)
             install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} .
+                                          WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})
+                          execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} --upgrade --no-deps --force-reinstall .
                                           WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})")
         endforeach()
     endfunction()

build_tools/cmake/buildPythonWheel.cmake

@@ -46,8 +46,10 @@ function(buildPythonWheel)
                 COMPONENT pypi
                 EXCLUDE_FROM_ALL
         )
-        install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py sdist bdist_wheel
-                                              --dist-dir \"${OUTPUT_DIR}\"
+        install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py clean --all
+                                      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})
+                      execute_process(COMMAND ${PYTHON_EXECUTABLE} setup.py sdist bdist_wheel
+                                      --dist-dir \"${OUTPUT_DIR}\"
                                       WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})"
                 COMPONENT pypi
                 EXCLUDE_FROM_ALL

examples/double_pendulum_py/test_simulation.py

@@ -93,7 +93,7 @@ def internalDynamics(t, q, v, sensors_data, u):
 trajectory_data_log = extract_viewer_data_from_log(log_data, robot)
 
 # Save the log in CSV
-engine.write_log(os.path.join(tempfile.gettempdir(), "log.csv"), False)
+engine.write_log(os.path.join(tempfile.gettempdir(), "log.csv"))
 
 # ############################ Display the results ######################################
 

python/CMakeLists.txt

@@ -24,7 +24,7 @@ install(CODE "file(GLOB_RECURSE src_file_list FOLLOW_SYMLINKS
 
 # Build Python wheels and archives
 buildPythonWheel("python/${LIBRARY_NAME}_py"
-                 "${CMAKE_BINARY_DIR}/pypi/${LIBRARY_NAME}_py/dist")
+                 "${CMAKE_BINARY_DIR}/pypi/dist/${LIBRARY_NAME}_py")
 
 # Install Python package jiminy_py
 deployPythonPackage("${LIBRARY_NAME}_py")
@@ -34,7 +34,7 @@ deployPythonPackage("${LIBRARY_NAME}_py")
 buildPythonWheel("python/gym_${LIBRARY_NAME}/common"
                  "python/gym_${LIBRARY_NAME}/envs"
                  "python/gym_${LIBRARY_NAME}/toolbox"
-                 "${CMAKE_BINARY_DIR}/pypi/gym_${LIBRARY_NAME}")
+                 "${CMAKE_BINARY_DIR}/pypi/dist/gym_${LIBRARY_NAME}")
 deployPythonPackageDevelop("python/gym_${LIBRARY_NAME}/common"
                            "python/gym_${LIBRARY_NAME}/envs"
                            "python/gym_${LIBRARY_NAME}/toolbox")

python/jiminy_py/setup.py

@@ -46,7 +46,9 @@ def finalize_options(self) -> None:
     ],
     keywords="robotics physics simulator",
     distclass=BinaryDistribution,
-    cmdclass={"install": InstallPlatlib},
+    cmdclass={
+        "install": InstallPlatlib
+    },
     packages=find_packages("src"),
     package_dir={"": "src"},
     package_data={"jiminy_py": [

python/jiminy_py/src/jiminy_py/simulator.py

@@ -321,7 +321,7 @@ def run(self,
         # Write log
         if log_path is not None:
             log_path = str(pathlib.Path(log_path).with_suffix('.data'))
-            self.engine.write_log(log_path, True)
+            self.engine.write_log(log_path)
 
     def render(self,
                return_rgb_array: bool = False,