Jiminy release 1.8.2 (#729)

* [core] More conservative step adjustment for adaptive steppers. (#724)
* [core] Add relaxation to PGS solver to mitigate convergence instabilities. (#726)
* [core] Remove unnecessarily confusing 'System' hierarchy. (#728)
* [core] Remove single-robot 'Engine' class. (#728)
* [python/plot] Synchronise x-axes on all tabs by default. (#724)
* [gym/common] Ease debugging of Gym environments. (#724)
* [gym/common] Do not enforce 'dtMax'. (#727)

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.12.4)
 
 # Set the build version (specify a tweak version to indicated post-release if needed)
-set(BUILD_VERSION 1.8.1)
+set(BUILD_VERSION 1.8.2)
 
 # Set compatibility
 set(COMPATIBILITY_VERSION SameMinorVersion)

INSTALL.md

@@ -79,7 +79,7 @@ make install -j2
 
 ```bash
 sudo apt install -y gnupg curl wget build-essential cmake doxygen graphviz
-python -m pip install "numpy>=1.21,<2.0"
+python -m pip install "wheel", "numpy>=1.21,<2.0"
 ```
 
 ### Jiminy dependencies build and install

build_tools/build_install_deps_unix.sh

@@ -23,18 +23,19 @@ fi
 
 ### Set the compiler(s) if undefined
 if [ -z ${CMAKE_C_COMPILER} ]; then
-  CMAKE_C_COMPILER="gcc"
+  CMAKE_C_COMPILER="$(which gcc)"
   echo "CMAKE_C_COMPILER is unset. Defaulting to '${CMAKE_C_COMPILER}'."
 fi
 if [ -z ${CMAKE_CXX_COMPILER} ]; then
-  CMAKE_CXX_COMPILER="g++"
+  CMAKE_CXX_COMPILER="$(which g++)"
   echo "CMAKE_CXX_COMPILER is unset. Defaulting to '${CMAKE_CXX_COMPILER}'."
 fi
 
 ### Set common CMAKE_C/CXX_FLAGS
 #   '_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION' flag is required to compile `boost::container_hash::hash`
 #   with C++17 enabled from "old" releases of Boost.
-CMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION -Wno-deprecated-declarations"
+CMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION $(
+                 ) -Wno-deprecated-declarations -Wno-enum-constexpr-conversion"
 if [ "${BUILD_TYPE}" == "Release" ]; then
   CMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DNDEBUG -O3"
 elif [ "${BUILD_TYPE}" == "Debug" ]; then
@@ -271,6 +272,7 @@ mkdir -p "${RootDir}/boost/build"
 mkdir -p "${RootDir}/eigen3/build"
 cd "${RootDir}/eigen3/build"
 cmake "${RootDir}/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
+      -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=ON
 make install -j2
@@ -324,7 +326,9 @@ make install -j2
 
 mkdir -p "${RootDir}/urdfdom_headers/build"
 cd "${RootDir}/urdfdom_headers/build"
-cmake "${RootDir}/urdfdom_headers" -Wno-dev -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+cmake "${RootDir}/urdfdom_headers" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
+      -DCMAKE_C_COMPILER="${CMAKE_C_COMPILER}" -DCMAKE_CXX_COMPILER="${CMAKE_CXX_COMPILER}" \
+      -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
 ################################## Build and install urdfdom ###########################################
@@ -437,8 +441,8 @@ cmake "${RootDir}/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_WITH_CODEGEN_SUPPORT=ON -DBUILD_WITH_CASADI_SUPPORT=OFF \
       -DBUILD_WITH_OPENMP_SUPPORT=OFF -DGENERATE_PYTHON_STUBS=OFF -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF  \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DBOOST_BIND_GLOBAL_PLACEHOLDERS $(
-      ) -Wno-uninitialized -Wno-type-limits -Wno-deprecated-declarations -Wno-unused-local-typedefs $(
-      ) -Wno-extra -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
+      ) -Wno-uninitialized -Wno-type-limits -Wno-unused-local-typedefs -Wno-extra $(
+      ) -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
 
 # Copy cmake configuration files for cppad and cppadcodegen

core/CMakeLists.txt

@@ -61,8 +61,6 @@ set(SRC
     "${CMAKE_CURRENT_SOURCE_DIR}/src/stepper/abstract_runge_kutta_stepper.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/stepper/runge_kutta4_stepper.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/stepper/runge_kutta_dopri_stepper.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/engine/system.cc"
-    "${CMAKE_CURRENT_SOURCE_DIR}/src/engine/engine_multi_robot.cc"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/engine/engine.cc"
 )
 

core/examples/double_pendulum/double_pendulum.cc

@@ -35,7 +35,7 @@ void internalDynamics(double /* t */,
 {
 }
 
-bool callback(double /* t */, const Eigen::VectorXd & /* q */, const Eigen::VectorXd & /* v */)
+bool callback()
 {
     return true;
 }
@@ -81,8 +81,8 @@ int main(int /* argc */, char * /* argv */[])
     }
 
     // Instantiate and configuration the controller
-    auto controller = std::make_shared<FunctionalController<>>(computeCommand, internalDynamics);
-    controller->initialize(robot);
+    robot->setController(
+        std::make_shared<FunctionalController<>>(computeCommand, internalDynamics));
 
     // Instantiate and configuration the engine
     Engine engine{};
@@ -119,7 +119,7 @@ int main(int /* argc */, char * /* argv */[])
     boost::get<double>(contactsOptions.at("transitionEps")) = 0.001;
     boost::get<double>(contactsOptions.at("transitionVelocity")) = 0.01;
     engine.setOptions(simuOptions);
-    engine.initialize(robot, controller, callback);
+    engine.addRobot(robot);
     std::cout << "Initialization: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // =====================================================================
@@ -134,7 +134,7 @@ int main(int /* argc */, char * /* argv */[])
 
     // Run simulation
     timer.tic();
-    engine.simulate(tf, q0, v0);
+    engine.simulate(tf, q0, v0, std::nullopt, false, callback);
     std::cout << "Simulation: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // Write the log file

core/examples/external_project/double_pendulum.cc

@@ -77,12 +77,12 @@ int main(int argc, char * argv[])
     }
 
     // Instantiate the controller
-    auto controller = std::make_shared<FunctionalController<>>(computeCommand, internalDynamics);
-    controller->initialize(robot);
+    robot->setController(
+        std::make_shared<FunctionalController<>>(computeCommand, internalDynamics));
 
     // Instantiate the engine
     Engine engine{};
-    engine.initialize(robot, controller, callback);
+    engine.addRobot(robot);
     std::cout << "Initialization: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // =====================================================================
@@ -97,7 +97,7 @@ int main(int argc, char * argv[])
 
     // Run simulation
     timer.tic();
-    engine.simulate(tf, q0, v0);
+    engine.simulate(tf, q0, v0, std::nullopt, callback);
     std::cout << "Simulation: " << timer.toc<std::milli>() << "ms" << std::endl;
 
     // Write the log file

core/include/jiminy/core/control/abstract_controller.h

@@ -16,7 +16,6 @@ namespace jiminy
     class TelemetrySender;
     class TelemetryData;
     class Robot;
-    class Engine;
 
     /// \brief Generic interface for any controller.
     ///
@@ -53,7 +52,10 @@ namespace jiminy
         explicit AbstractController() noexcept;
         virtual ~AbstractController();
 
-        /// \brief Set the parameters of the controller.
+        /// \brief Initialize the internal state of the controller for a given robot.
+        ///
+        /// \details This method can be called multiple times with different robots. The internal
+        ///          state of the controller will be systematically overwritten.
         ///
         /// \param[in] robot Robot
         virtual void initialize(std::weak_ptr<const Robot> robot);