Generate different outputs depending on the backend and update to adam-robotics 0.3.2 #12

flferretti · 2024-11-13T12:14:46Z

When this package is installed, it also installs some quite heavy dependencies that might not be needed, namely JAX and PyTorch. This PR allows to generate multiple outputs from this recipe depending on the chosen backend (casadi, jax, pytorch, all).

Warning

With these changes, installing the plain adam-robotics will NOT install casadi, jax and pytorch backends.
Please, use adam-robotics-all to install all the backends, or install adam-robotics-casadi to install adam-robotics with the casadi backend.

Fix #13 .

Checklist

Used a personal fork of the feedstock to propose changes
Bumped the build number (if the version is unchanged)
Reset the build number to 0 (if the version changed)
Re-rendered with the latest conda-smithy (Use the phrase @conda-forge-admin, please rerender in a comment in this PR for automated rerendering)
Ensured the license file is being packaged.

conda-forge-admin · 2024-11-13T12:16:29Z

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe/meta.yaml) and found it was in an excellent condition.

I do have some suggestions for making it better though...

For recipe/meta.yaml:

ℹ️ It looks like the 'adam-robotics-all' output doesn't have any tests.

recipe/meta.yaml

traversaro · 2024-11-13T12:29:48Z

Just to understand, before when one installed adam-robotics from conda-forge, it would also get casadi installed as a dependency, while after this PR, no, is that correct? Probably we can document this clearly in the PR description.

flferretti · 2024-11-13T12:40:45Z

Just to understand, before when one installed adam-robotics from conda-forge, it would also get casadi installed as a dependency, while after this PR, no, is that correct? Probably we can document this clearly in the PR description.

That's correct! I'll update the description. Thanks!

conda-forge-admin · 2024-11-13T12:51:44Z

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe/meta.yaml) and found it was in an excellent condition.

flferretti · 2024-11-13T14:13:41Z

Tests are failing because of geometry module that will be removed by ami-iit/adam#106

…nda-forge-pinning 2024.11.12.14.24.54

conda-forge-admin · 2024-11-18T19:24:20Z

Hi! This is the friendly automated conda-forge-linting service.

I wanted to let you know that I linted all conda-recipes in your PR (recipe/meta.yaml) and found some lint.

Here's what I've got...

For recipe/meta.yaml:

❌ Recipe maintainer "xela-95" does not exist

flferretti · 2024-11-18T19:51:11Z

Test are actually passing, but the feedstock does not have the permissions to produce different outputs than the one originally associated to its token, see https://conda-forge.org/docs/maintainer/infrastructure/#output-validation-and-feedstock-tokens. If this PR gets approved, I'll have to send a request according to https://github.com/conda-forge/admin-requests?tab=readme-ov-file#add-a-package-output-to-a-feedstock to enable additional outputs.

FYI @traversaro

flferretti · 2024-11-18T19:54:40Z

Note that in c16f10b I added already a rebuild for the version 0.3.2 so we can easily rebase onto #13, and in 34abe6a I added a fix for the problem we were facing in #10. It was related to the fact that the MAX_PATH length is set to 260, which makes a check fail during the build. I added a patch to remove it, but we can eventually consider to remove also upstream

FYI @Giulero @xela-95

traversaro · 2024-11-18T23:23:16Z

I'll have to send a request according to https://github.com/conda-forge/admin-requests?tab=readme-ov-file#add-a-package-output-to-a-feedstock to enable additional outputs.

For me we can proceed, thanks!

traversaro · 2024-11-18T23:27:12Z

Fyi pytorch is basically not available on Windows. However, I am not sure if multiplying the amount of build for 12 (and it should be even more, as we should also add linux-aarch64 and osx-arm64 ) is worth the minimal convenience of having adam-robotics-all installable also on Windows, where it should effectively just install adam-robotics-casadi. Perhaps we should make also adam-robotics-all a noarch package (that will not install in windows as the dependencies are missing) so that we can make the recipe a noarch: python package again?

traversaro · 2024-11-18T23:29:06Z

By the way, there seems to be test failures on Python 3.9 :

=========================== short test summary info ============================
ERROR tests/body_fixed/test_Jax_body_fixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/body_fixed/test_NumPy_body_fixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/mixed/test_Jax_mixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/mixed/test_NumPy_mixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/parametric/test_Jax_computations_parametric.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/parametric/test_NumPy_computations_parametric.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
!!!!!!!!!!!!!!!!!!! Interrupted: 6 errors during collection !!!!!!!!!!!!!!!!!!!!
======================== 3 warnings, 6 errors in 1.23s =========================

are we sure we still support Python 3.9 here?

flferretti · 2024-11-19T12:34:51Z

By the way, there seems to be test failures on Python 3.9 :

=========================== short test summary info ============================
ERROR tests/body_fixed/test_Jax_body_fixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/body_fixed/test_NumPy_body_fixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/mixed/test_Jax_mixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/mixed/test_NumPy_mixed.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/parametric/test_Jax_computations_parametric.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
ERROR tests/parametric/test_NumPy_computations_parametric.py - TypeError: unsupported operand type(s) for |: 'type' and 'type'
!!!!!!!!!!!!!!!!!!! Interrupted: 6 errors during collection !!!!!!!!!!!!!!!!!!!!
======================== 3 warnings, 6 errors in 1.23s =========================

are we sure we still support Python 3.9 here?

No, using pipe for union types has been introduced in Python 3.10 according to PEP 604. This should be changed in the package's setup.cfg. For the time being, I'll put a {{ python_min }} bound here

flferretti · 2024-11-19T12:40:13Z

Fyi pytorch is basically not available on Windows. However, I am not sure if multiplying the amount of build for 12 (and it should be even more, as we should also add linux-aarch64 and osx-arm64 ) is worth the minimal convenience of having adam-robotics-all installable also on Windows, where it should effectively just install adam-robotics-casadi. Perhaps we should make also adam-robotics-all a noarch package (that will not install in windows as the dependencies are missing) so that we can make the recipe a noarch: python package again?

You're right, thanks! I restored the noarch and set minimum python version in 766d406

conda-forge-admin · 2024-11-19T12:41:09Z

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe/meta.yaml) and found it was in an excellent condition.

traversaro · 2024-11-19T12:45:28Z

The run constraint should be python >={{ python_min }}, not python {{ python_min }} (that constraints the run python version to be the minimum one). Furthermore, if we want to override the minimum version with ours that is different (i.e. 3.10), we should add a line {% set python_min = "3.10" %} at the top of the meta.yaml . For more info, see https://conda-forge.org/docs/maintainer/knowledge_base/#noarch-python .

flferretti · 2024-11-19T12:48:47Z

I'll have to send a request according to https://github.com/conda-forge/admin-requests?tab=readme-ov-file#add-a-package-output-to-a-feedstock to enable additional outputs.

For me we can proceed, thanks!

Done in conda-forge/admin-requests#1172, thanks!

flferretti · 2024-11-19T12:56:07Z

override the minimum version with ours that is different

You're right, sorry. Should be solved by rebase in 4510fcb

flferretti · 2024-11-19T12:59:31Z

For some reason I still see .ci_support/linux_64_numpy1.22python3.9.____cpython.yaml in the PR files, @traversaro am I doing something wrong?

traversaro · 2024-11-19T13:08:19Z

@conda-forge-admin please rerender

traversaro · 2024-11-19T13:09:30Z

For some reason I still see .ci_support/linux_64_numpy1.22python3.9.____cpython.yaml in the PR files, @traversaro am I doing something wrong?

I am not sure, but are you sure that we need a python build dependencies in https://github.com/conda-forge/adam-robotics-feedstock/pull/12/files#diff-f3725a55bf339595bf865fec73bda8ac99f283b0810c205442021f29c06eea9aR31 ? According to https://conda-forge.org/docs/maintainer/knowledge_base/#noarch-python this should not be necessary.

conda-forge-admin · 2024-11-19T13:10:38Z

Hi! This is the friendly automated conda-forge-webservice.

I tried to rerender for you, but it looks like there was nothing to do.

_{This message was generated by GitHub actions workflow run https://github.com/conda-forge/conda-forge-webservices/actions/runs/11913720545.}

traversaro · 2024-11-19T13:11:40Z

Probably you can also try marking the whole recipe as noarch: python on the top (or instead, not sure) of each output.

recipe/meta.yaml

…nda-forge-pinning 2024.11.18.19.00.37

flferretti · 2024-11-19T13:51:29Z

Probably adam-robotics-pytorch needs a newer python version as the recipe gets solved with jax==0.3.0 and this leads to:

__________ ERROR collecting tests/pytorch_batch/test_pytorch_batch.py __________
tests/pytorch_batch/test_pytorch_batch.py:5: in <module>
    import jax.numpy as jnp
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/__init__.py:133: in <module>
    from jax import nn as nn
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/nn/__init__.py:21: in <module>
    from jax._src.nn.functions import (
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/_src/nn/functions.py:28: in <module>
    from jax.scipy.special import expit
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/scipy/__init__.py:17: in <module>
    from jax.scipy import linalg as linalg
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/scipy/linalg.py:17: in <module>
    from jax._src.scipy.linalg import (
../_test_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_pl/lib/python3.10/site-packages/jax/_src/scipy/linalg.py:242: in <module>
    @_wraps(scipy.linalg.tril)
E   AttributeError: module 'scipy.linalg' has no attribute 'tril'

Test Environment

The following NEW packages will be INSTALLED:

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    _openmp_mutex:         4.5-2_kmp_llvm                  conda-forge
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    adam-robotics-pytorch: 0.3.2-pyhee61e44_0              local      
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    xorg-libxinerama:      1.1.5-h5888daf_1                conda-forge
    xorg-libxrandr:        1.5.4-hb9d3cd8_0                conda-forge
    xorg-libxrender:       0.9.11-hb9d3cd8_1               conda-forge
    xorg-libxxf86vm:       1.1.5-hb9d3cd8_4                conda-forge
    xorg-xorgproto:        2024.1-hb9d3cd8_1               conda-forge
    xz:                    5.2.6-h166bdaf_0                conda-forge
    yaml:                  0.2.5-h7f98852_2                conda-forge
    zlib:                  1.3.1-hb9d3cd8_2                conda-forge
    zstd:                  1.5.6-ha6fb4c9_0                conda-forge

scipy.linalg.tril has been deprecated in scipy==1.11.0, see https://docs.scipy.org/doc/scipy-1.12.0/reference/generated/scipy.linalg.tril.html

flferretti · 2024-11-19T14:09:37Z

When forcing jax>0.3.0 (in red) I get this diff in the resolved environment. It seems like it has to do with python and numpy:

71c73
<   jax                conda-forge/noarch::jax-0.4.34-pyhd8ed1ab_0
---
>   jax                conda-forge/noarch::jax-0.3.0-pyhd8ed1ab_0
73c75
<   jaxlib             conda-forge/linux-64::jaxlib-0.4.34-cuda120py313h3b1fb80_200
---
>   jaxlib             conda-forge/linux-64::jaxlib-0.1.75-py310hb5077e9_0
140c140
<   libtorch           conda-forge/linux-64::libtorch-2.4.1-cuda120_h1d34654_302
---
>   libtorch           conda-forge/linux-64::libtorch-2.5.1-cuda126_hd8d7199_303
153,154c153
<   mkl                conda-forge/linux-64::mkl-2023.2.0-h84fe81f_50496
<   ml_dtypes          conda-forge/linux-64::ml_dtypes-0.5.0-py313ha87cce1_0
---
>   mkl                conda-forge/linux-64::mkl-2024.2.2-ha957f24_16
164c163
<   numpy              conda-forge/linux-64::numpy-2.1.3-py313h4bf6692_0
---
>   numpy              conda-forge/linux-64::numpy-1.26.4-py310hb13e2d6_0
174,177c172,175
<   python             conda-forge/linux-64::python-3.13.0-h9ebbce0_100_cp313
<   python_abi         conda-forge/linux-64::python_abi-3.13-5_cp313
<   pytorch            conda-forge/linux-64::pytorch-2.4.1-cuda120_py313h6ccb88c_302
<   re2                conda-forge/linux-64::re2-2024.07.02-h77b4e00_1
---
>   python             conda-forge/linux-64::python-3.10.15-h4a871b0_2_cpython
>   python-flatbuffers conda-forge/noarch::python-flatbuffers-24.3.25-pyh59ac667_0
>   python_abi         conda-forge/linux-64::python_abi-3.10-5_cp310
>   pytorch            conda-forge/linux-64::pytorch-2.5.1-cuda126_py310he4c8055_303
179c177
<   scipy              conda-forge/linux-64::scipy-1.14.1-py313h27c5614_1
---
>   scipy              conda-forge/linux-64::scipy-1.14.1-py310hfcf56fc_1

traversaro · 2024-11-19T14:50:40Z

Trying to solve:

[project]
authors = ["Silvio <[email protected]>"]
channels = ["conda-forge"]
description = "Add a short description here"
name = "pixiws"
platforms = ["linux-64"]
version = "0.1.0"

[tasks]

[dependencies]
jax = ">=0.4.0"
numpy = ">=2.0.0"
pytorch = ">=2.5.0"

result in a bunch of protobuf errors, I guess it is related to conda-forge/jaxlib-feedstock#287 and similar.

traversaro · 2024-11-19T14:51:18Z

Probably we can just constrain jax>=0.3.0 in the test session?

Co-authored-by: Silvio Traversaro <[email protected]>

traversaro

Thanks a lot! Ready to go for me!

xela-95

Thanks a lot @flferretti ! Impressive work!

Giulero

Awesome guys! Thank you for all the effort <3

traversaro · 2024-11-20T08:33:41Z

Thanks to all!

Remove dependencies installation via yum

23d8f19

traversaro reviewed Nov 13, 2024

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flferretti force-pushed the multi_output_recipe branch from c58febd to 0b5915c Compare November 13, 2024 12:50

flferretti added 4 commits November 13, 2024 15:15

Generate multiple outputs depending on the backend

e490d3d

MNT: Re-rendered with conda-build 24.9.0, conda-smithy 3.44.3, and co…

0e758b3

…nda-forge-pinning 2024.11.12.14.24.54

Enable Windows build for adam-robotics-all

169565d

MNT: Re-rendered with conda-build 24.9.0, conda-smithy 3.44.3, and co…

c051e51

…nda-forge-pinning 2024.11.12.14.24.54

flferretti force-pushed the multi_output_recipe branch from 0b5915c to c051e51 Compare November 13, 2024 14:15

flferretti mentioned this pull request Nov 18, 2024

Raise error if a non-existing string-type path is passed ami-iit/adam#103

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flferretti added 2 commits November 18, 2024 17:58

Update to adam=0.3.2

c16f10b

Add patch to allow long paths

34abe6a

Skip conversion test for non-CasADi backends

272cb56

flferretti force-pushed the multi_output_recipe branch from 493b803 to 272cb56 Compare November 18, 2024 19:51

flferretti force-pushed the multi_output_recipe branch from 74849fd to f38d1fb Compare November 19, 2024 12:55

traversaro changed the title ~~Generate different outputs depending on the backend~~ Generate different outputs depending on the backend and update to adam-robotics 0.3.2 Nov 19, 2024

traversaro reviewed Nov 19, 2024

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traversaro reviewed Nov 19, 2024

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flferretti added 2 commits November 19, 2024 14:33

Set minimum python version to 3.10

59c845c

MNT: Re-rendered with conda-build 24.9.0, conda-smithy 3.44.6, and co…

fca766d

…nda-forge-pinning 2024.11.18.19.00.37

flferretti force-pushed the multi_output_recipe branch from f38d1fb to fca766d Compare November 19, 2024 13:33

Add run constrained jax>0.3.0

e5edba8

Co-authored-by: Silvio Traversaro <[email protected]>

flferretti marked this pull request as ready for review November 19, 2024 18:01

flferretti requested review from Giulero and xela-95 as code owners November 19, 2024 18:01

traversaro approved these changes Nov 19, 2024

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xela-95 approved these changes Nov 20, 2024

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Giulero approved these changes Nov 20, 2024

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traversaro merged commit 57b7d2a into conda-forge:main Nov 20, 2024
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flferretti deleted the multi_output_recipe branch November 20, 2024 08:38

traversaro mentioned this pull request Nov 20, 2024

Update installation instruction when installing conda packages ami-iit/adam#108

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Generate different outputs depending on the backend and update to adam-robotics 0.3.2 #12

Generate different outputs depending on the backend and update to adam-robotics 0.3.2 #12

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Generate different outputs depending on the backend and update to adam-robotics 0.3.2 #12

Generate different outputs depending on the backend and update to adam-robotics 0.3.2 #12

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