NumPy 2.0 support (AttributeError: "itemset")

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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NumPy 2.0 support (AttributeError: "itemset") #21577

Open jwnimmer-tri opened 2 weeks ago

jwnimmer-tri commented 2 weeks ago

Is your feature request related to a problem? Please describe.

NumPy 2.0 has been released. See https://numpy.org/devdocs/numpy_2_0_migration_guide.html.

Currently, importing certain pydrake versions crashes with this error:

AttributeError: `itemset` was removed from the ndarray class in NumPy 2.0.

Known to fail:

stable releases 1.30 and earlier
nightly builds 0.0.20240618 and earlier

Describe the solution you'd like

Drake should be compatible with both NumPy 1.x and 2.x.

Describe alternatives you've considered

In the meantime, pydrake users should depend on numpy < 2 in their requirements file.

Alternatively, you can use a nightly build (which itself depends on numpy < 2).

jwnimmer-tri commented 2 weeks ago

For starters we need to merge up our pybind11 fork to incorporate https://github.com/pybind/pybind11/pull/5050, i.e., to v2.12.0. That means:

Open a pull request to https://github.com/RobotLocomotion/pybind11/ that merges the upstream from 2.11 to 2.12.
- To to this, make a local branch and do the merging.
Open a pull request to Drake that bumps our COMMIT pin to your branch's git sha (so that we get CI coverage).

jwnimmer-tri commented 2 weeks ago

To unbreak our wheel builds, I believe can do something along these lines:

--- a/tools/wheel/image/provision-python.sh
+++ b/tools/wheel/image/provision-python.sh
@@ -42,7 +42,7 @@ ln -s /usr/local/bin/python /usr/bin/python
 # keeping them up to date if they are?
 pip install \
     matplotlib \
-    numpy \
+    'numpy < 2' \
     pyyaml \
     semantic-version \
     setuptools \

ggould-tri commented 2 weeks ago

https://drake-jenkins.csail.mit.edu/view/Production/job/linux-jammy-unprovisioned-gcc-wheel-nightly-release/111 is this issue; I am using the magic word //:install in this comment so that future buildcop searches will find this issue when they search for the failing target.

jwnimmer-tri commented 1 week ago

I think possibly the last remaining obstacle is to figure out how to rework https://github.com/RobotLocomotion/pybind11/commit/0da7ac7bda9d0cecd6a576e47afcfd4954f4bfcc to no longer rely on itemset, which is related to https://github.com/pybind/pybind11/issues/1181 and https://github.com/pybind/pybind11/pull/1152.

jwnimmer-tri commented 1 week ago

The first thing to try is if we can call __setitem__ with a slice, instead of itemset.