Update book for Python 3.13 and gtbook 0.0.41

.github/workflows/book.yml

@@ -1,71 +1,110 @@
 name: deploy-book
 
-# Only run this when the master branch changes
+# Validate pull requests and deploy when main changes
 on:
+  pull_request:
   push:
     branches:
       - main
 
 # This job installs dependencies, builds the book, and pushes it to `gh-pages`
-# If using conda lock, re-generate conda-lock file with:
-# > conda-lock -f environment.yml -p linux-64
 jobs:
   deploy-book:
     runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    outputs:
+      s76-outcome: ${{ steps.s76.outcome }}
     env:
-      CONDA_LOCK: false
+      MPLBACKEND: module://matplotlib_inline.backend_inline
     defaults:
       run:
         shell: bash -l {0}
     steps:
-      - uses: actions/checkout@v4
-
-      - name: Activate conda env with conda.lock
-        if: env.CONDA_LOCK == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          auto-update-conda: false
-          auto-activate-base: false
-          activate-environment: gtbook
-          python-version: 3.9
-          environment-file: conda-linux-64.lock
+      - uses: actions/checkout@v7.0.1
 
       - name: Activate conda env with environment.yml
-        if: env.CONDA_LOCK == 'false'
-        uses: conda-incubator/setup-miniconda@v3
+        uses: conda-incubator/setup-miniconda@v4.0.1
         with:
           auto-update-conda: false
-          auto-activate-base: false
+          auto-activate: false
           activate-environment: gtbook
-          python-version: 3.9
+          python-version: '3.13'
           environment-file: environment.yml
 
       - run: conda info --envs
-        if: env.CONDA_LOCK == 'false'
         name: Check active env
 
       - run: conda list
-        if: env.CONDA_LOCK == 'false'
         name: Check versions
 
-      - run: pip install plotly==5.5.0
-        if: env.CONDA_LOCK == 'true'
-        name: Install plotly
+      - name: Execute S76 independently
+        id: s76
+        continue-on-error: true
+        timeout-minutes: 15
+        run: |
+          set -euo pipefail
+          mkdir -p "$RUNNER_TEMP/s76"
+          python scripts/s76_ci.py execute --output-dir "$RUNNER_TEMP/s76" \
+            2>&1 | tee "$RUNNER_TEMP/s76/execution.log"
+
+      - name: Select S76 outputs and prepare book configuration
+        if: steps.s76.outcome == 'success' || steps.s76.outcome == 'failure'
+        env:
+          S76_OUTCOME: ${{ steps.s76.outcome }}
+        run: |
+          set -euo pipefail
+          args=()
+          if [ "$S76_OUTCOME" = success ]; then
+            args+=(--use-executed)
+            echo 'S76: using freshly executed outputs.' >> "$GITHUB_STEP_SUMMARY"
+          else
+            echo '::warning::S76 execution failed; using saved committed outputs.'
+            echo 'S76: execution failed or timed out; using saved committed outputs. See the S76 diagnostic artifact.' >> "$GITHUB_STEP_SUMMARY"
+          fi
+          python scripts/s76_ci.py prepare --output-dir "$RUNNER_TEMP/s76" \
+            --prepared-config "$RUNNER_TEMP/book-config.yml" "${args[@]}"
 
-      - run: pip install gtbook
-        if: env.CONDA_LOCK == 'true'
-        name: Install gtbook
+      - name: Preserve S76 diagnostics
+        if: always() && (steps.s76.outcome == 'success' || steps.s76.outcome == 'failure')
+        continue-on-error: true
+        uses: actions/upload-artifact@v7.0.1
+        with:
+          name: s76-execution-${{ github.run_id }}
+          path: ${{ runner.temp }}/s76/
+          if-no-files-found: warn
 
       - name: Build Frank and Seth's book
         run: |
           jupyter-book clean .
-          touch *.ipynb
-          jupyter-book build .
+          touch ./*.ipynb
+          jupyter-book build . --config "$RUNNER_TEMP/book-config.yml"
 
       # Push the book's HTML to github-pages
       - name: GitHub Pages action
-        uses: peaceiris/actions-gh-pages@v4
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: peaceiris/actions-gh-pages@v4.1.0
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./_build/html
           cname: www.roboticsbook.org
+
+  report-s76:
+    needs: deploy-book
+    if: always() && github.event_name == 'push' && github.ref == 'refs/heads/main' && needs.deploy-book.outputs.s76-outcome == 'failure'
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    permissions:
+      contents: read
+      issues: write
+    concurrency:
+      group: s76-failure-report
+      cancel-in-progress: false
+    steps:
+      - uses: actions/checkout@v7.0.1
+      - name: Open an issue unless this failure is already tracked
+        uses: actions/github-script@v9.0.0
+        with:
+          script: |
+            const report = require('./scripts/report_s76.cjs');
+            await report({github, context, core});

.gitignore

@@ -2,3 +2,7 @@ _build/*
 .DS_Store
 .ipynb_checkpoints/*
 .vscode/settings.json
+
+build/
+
+__pycache__/

S24_sorter_perception.ipynb

@@ -1240,7 +1240,7 @@
    "source": [
     "posterior = gtsam.DiscreteDistribution(unnormalized_posterior)\n",
     "print(type(posterior))\n",
-    "assert sum(p for _, p in posterior.enumerate()) == 1.0\n",
+    "assert np.isclose(sum(p for _, p in posterior.enumerate()), 1.0, rtol=0, atol=1e-12)\n",
     "pretty(posterior)"
    ]
   },

S54_diffdrive_perception.ipynb

@@ -769,7 +769,8 @@
     }
    ],
    "source": [
-    "model = torch.hub.load('pytorch/vision:v0.10.0', 'deeplabv3_resnet50', pretrained=True);\n",
+    "from torchvision.models.segmentation import DeepLabV3_ResNet50_Weights, deeplabv3_resnet50\n",
+    "model = deeplabv3_resnet50(weights=DeepLabV3_ResNet50_Weights.COCO_WITH_VOC_LABELS_V1);\n",
     "model.to(DEVICE) # DEVICE will be equal to 'cuda' if GPU is available\n",
     "model.eval();"
    ]
@@ -926,8 +927,10 @@
     }
    ],
    "source": [
+    "# MiDaS also loads its EfficientNet backbone from this repository.\n",
+    "_ = torch.hub.list(\"rwightman/gen-efficientnet-pytorch\", trust_repo=True, verbose=False)\n",
     "model_type = \"MiDaS_small\"  # MiDaS v2.1 - Small\n",
-    "midas = torch.hub.load(\"intel-isl/MiDaS\", model_type, verbose=False);\n",
+    "midas = torch.hub.load(\"intel-isl/MiDaS\", model_type, verbose=False, trust_repo=True);\n",
     "midas.to(DEVICE);\n",
     "midas.eval();"
    ]

S72_drone_actions.ipynb

@@ -56,7 +56,7 @@
    "source": [
     "import math\n",
     "import numpy as np\n",
-    "from dataclasses import dataclass\n",
+    "from dataclasses import dataclass, field\n",
     "\n",
     "import gtsam\n",
     "from gtbook.drone import axes\n",
@@ -802,11 +802,14 @@
     "    g: float = 9.81\n",
     "    mass: float = 1.0\n",
     "    k_d: float = 0.0425                        # drag coefficient\n",
-    "    gn: np.ndarray = gtsam.Point3(0, 0, -g)    # gravity vector in navigation frame.\n",
+    "    gn: np.ndarray = field(init=False)       # gravity vector in navigation frame.\n",
     "    I_xy: float = 4 * 0.15 * mass * 0.1**2     # All 4 motors contribute to I_xy\n",
     "    I_z: float = 4 * 0.15 * mass * 2 * 0.1**2  # I_z leverages longer arm\n",
     "    I = np.diag([I_xy, I_xy, I_z])             # Inertia matrix\n",
     "\n",
+    "    def __post_init__(self):\n",
+    "        self.gn = gtsam.Point3(0, 0, -self.g)\n",
+    "\n",
     "    # define integrate method that updates dynamics and then calls super's integrate method:\n",
     "    def integrate(self, f: float, tau:gtsam.Point3, dt=1.0):\n",
     "        \"\"\"Integrate equations of motion given dynamic inputs f and tau.\"\"\"\n",

_config.yml

@@ -5,12 +5,14 @@ title: Introduction to Robotics and Perception
 author: Frank Dellaert and Seth Hutchinson
 logo: logo.png
 only_build_toc_files: true
-execute_notebooks: on
 
 # Force re-execution of notebooks on each build.
 # See https://jupyterbook.org/content/execute.html
 execute:
   execute_notebooks: force
+  timeout: 300
+  allow_errors: false
+  raise_on_error: true
 
 # Define the name of the latex output file for PDF builds
 latex:

environment.yml

@@ -2,20 +2,20 @@ name: gtbook
 channels:
   - conda-forge
 dependencies:
-  - python=3.9
-  - conda-lock
+  - python=3.13
   - black
-  - jupyter-book>=0.15
+  - jupyter-book>=1,<2
   - python-graphviz
   - ipywidgets>=7.5
   - pandas
-  - matplotlib=3.5.3
+  - matplotlib
   - pillow # section 5.3 etc..
   - pytorch
+  - torchvision
   - timm
   - nbformat
   - pip
   - pip:
-      - plotly # in pip for binder
-      - kaleido # needed for png output
-      - gtbook
+      - plotly>=5.24.1,<6 # in pip for binder
+      - kaleido>=0.2.1,<1 # bundled browser for png output
+      - gtbook>=0.0.41