Import 1.50.x series code

Author: jonasschneider

.appveyor.yml

@@ -0,0 +1,39 @@
+version: 1.0.{build}
+
+environment:
+
+    global:
+        # SDK v7.0 MSVC Express 2008's SetEnv.cmd script will fail if the
+        # /E:ON and /V:ON options are not enabled in the batch script intepreter
+        # See: http://stackoverflow.com/a/13751649/163740
+        CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\continuous-integration\\appveyor\\run_with_env.cmd"
+
+platform: 
+    - x64 
+
+
+install:
+    - mkdir %userprofile%\.mujoco
+    - curl %MUJOCO_FOR_WINDOWS% -o %userprofile%\.mujoco\mjpro.tar.gz
+    - curl https://github.com/glfw/glfw/releases/download/3.2.1/glfw-3.2.1.bin.WIN64.zip -o %userprofile%\glfw.zip
+    - cd %userprofile%\.mujoco\
+    - tar -zxvf mjpro.tar.gz 
+    - echo "%PYTHON_VERSION% C:\Miniconda35-x64 %userprofile%"
+    - set PATH=C:\Miniconda35-x64;C:\Miniconda35-x64\Scripts;%PATH%
+    - conda config --set always_yes yes --set changeps1 no
+    - conda update -q conda
+    - conda info -a
+    - conda create -q -n test-environment python=3.5 numpy scipy
+    - activate test-environment
+    - SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%;
+    - SET RENDERING_OFF=1
+    - cd C:\projects\pymj
+    - pip install -r requirements.txt
+    - pip install -r requirements.dev.txt
+
+build: off
+
+test_script:
+    - pytest -s --verbose --durations=10 --instafail
+
+

.dockerignore

@@ -0,0 +1,49 @@
+generated_cymj*
+_pyxbld*
+dist
+cache
+.idea/*
+*~
+.*~
+*#*#
+*.o
+*.dat
+*.prof
+*.lprof
+*.local
+.realsync
+.DS_Store
+**/*.egg-info
+.cache
+*.ckpt
+*.log
+.ipynb_checkpoints
+venv/
+.vimrc
+*.settings
+*.svn
+.project
+.pydevproject
+tags
+*sublime-project
+*sublime-workspace
+# Intermediate outputs
+__pycache__
+**/__pycache__
+*.pb.*
+*.pyc
+*.swp
+*.swo
+# generated data
+*.rdb
+*.db
+*.avi
+# mujoco outputs
+MUJOCO_LOG.TXT
+model.txt
+.window_data
+.idea/*.xml
+outputfile
+tmp*
+cymj.c
+**/.git

.gitignore

@@ -1,64 +1,49 @@
+generated_cymj*
+_pyxbld*
+dist
+cache
+.idea/*
+*~
+.*~
+*#*#
+*.o
+*.dat
+*.prof
+*.lprof
+*.local
+.realsync
 .DS_Store
-
-# Byte-compiled / optimized / DLL files
-__pycache__/
-*.py[cod]
-*$py.class
-
-# Distribution / packaging
-.Python
-env/
-build/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
-lib/
-lib64/
-parts/
-sdist/
-var/
-*.egg-info/
-.installed.cfg
-*.egg
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
-.coverage
-.coverage.*
+**/*.egg-info
 .cache
-nosetests.xml
-coverage.xml
-*,cover
-.hypothesis/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
+*.ckpt
 *.log
-
-# Sphinx documentation
-docs/_build/
-
-# PyBuilder
-target/
-
-
-gcc-dylibs
-MANIFEST
-/tmp
+.ipynb_checkpoints
+venv/
+.vimrc
+*.settings
+*.svn
+.project
+.pydevproject
+tags
+*sublime-project
+*sublime-workspace
+# Intermediate outputs
+__pycache__
+**/__pycache__
+*.pb.*
+*.pyc
+*.swp
+*.swo
+# generated data
+*.rdb
+*.db
+*.avi
+# mujoco outputs
 MUJOCO_LOG.TXT
+model.txt
+.window_data
+.idea/*.xml
+outputfile
+tmp*
+cymj.c
+**/.git

.python-version

@@ -0,0 +1 @@
+3.5.2/envs/pymj

.travis.yml

@@ -1,25 +1,10 @@
-dist: trusty
 sudo: required
-cache:
-  apt: true
-language: python
-addons:
-  apt:
-    packages:
-      - python-dev
-python:
-  - "2.7"
-  - "3.5"
-install: pip install tox-travis
-script: tox
+language: generic
+dist: trusty
+
 before_install:
-  - Xvfb :12 -screen 0 800x600x24 +extension RANDR &
-  - mkdir -p ~/.mujoco
-  - curl https://openai-public.s3-us-west-2.amazonaws.com/mujoco/$MUJOCO_KEY_BUNDLE.tar.gz | tar xz -C ~/.mujoco
-env:
-  - DISPLAY=:12
+- curl $MUJOCO_FOR_LINUX | tar -xz ./mjkey.txt
+- docker build -t image-under-test .
 
-notifications:
-  slack:
-    secure: h/Mxm8K+avH/2W0818zCHmLloRPMFN4NJL01+VShvAkH80/acfjeq/+mMdWXXPL/oOB6kSHDk+GDhwR6+s03ZcPMn5INTFvFYqUc6UWmT+NXtOPxGTN0xda6MdYUkWQUKaMyjFrweZQOMOASFBIzPOq4XeVbM5aB8s4EJhnfAcYZhp/idwKbToVihN4KZgxlvZIFc8iEp1o9uSl5qrsaeYYYXRkb6mauacAwOo4/Chu+cOnoLUOnvhBFE3rV3doDNrbnoalO8XiExtgx5CIAYWrlMni7r2Q+LlzgwdyTH19ZtybPxJTZIIWSBQ2UtcoYdIEDcc36GcUwz1VUGg32mLJJnY2xw80CWR4ixFPpLwwP5Y99WTn8v094B4nmFTWOwNWXp3EkqtTN9XcJoRBqXB5ArucIPqrx57dOCljSKx22gL6WaF2p3stSAxIGFektGyGnisaELrFZG1C63aHoUPicj3gUlijmAoUmYaDRf6P1wnpXqBpKDAWWhAMSatvx1ekmEJgR7OQklQnnfjx9kENDUygNUWS4IQwN2qYieuzHFL3of7/30mTM43+Vt/vWN8GI7j01BXu6FNGGloHxjH1pt3bLP/+uj5BJsT2HWF+Z8XR4VE6cyVuKsQAFgCXwOkoDHALbcwsspONDIt/9ixkesgh1oFt4CzU3UuU5wYs=
-    on_success: change
+script:
+- docker run --rm image-under-test

Dockerfile

@@ -1,32 +1,53 @@
-FROM ubuntu:14.04
+# We need the CUDA base dockerfile to enable GPU rendering
+# on hosts with GPUs.
+FROM nvidia/cuda:8.0-devel-ubuntu16.04
 
-RUN apt-get update && apt-get install -y \
-    python2.7 \
-    python2.7-dev \
-    python-pip \
-    unzip \
-    xorg-dev \
+RUN apt-get update -q \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    curl \
+    git \
     libgl1-mesa-dev \
-    xvfb \
-    libxinerama1 \
-    libxcursor1 \
-    libglu1-mesa \
-    cmake \
-    gfortran \
-    libblas-dev \
-    libatlas-dev \
-    liblapack-dev \
-    libjpeg62 \
-    libjpeg62-dev \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/*
-
-COPY requirements.txt /mujoco-py/requirements.txt
-RUN pip install -r /mujoco-py/requirements.txt
-
-COPY . /mujoco-py
-
-ENV PYTHONPATH=/mujoco-py
-WORKDIR /mujoco-py
-ENTRYPOINT ["bin/docker-entrypoint.sh"]
-CMD ["nosetests", "tests/"]
+    libgl1-mesa-glx \
+    libosmesa6-dev \
+    python3-pip \
+    python3-numpy \
+    python3-scipy \
+    unzip \
+    vim \
+    wget \
+    xpra \
+    xserver-xorg-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sci-artifacts/manual-builds/patchelf_0.9_amd64.elf \
+    && chmod +x /usr/local/bin/patchelf
+
+ENV LANG C.UTF-8
+
+RUN mkdir -p /root/.mujoco \
+    && wget https://www.roboti.us/download/mjpro150_linux.zip -O mujoco.zip \
+    && unzip mujoco.zip -d /root/.mujoco \
+    && rm mujoco.zip
+COPY ./mjkey.txt /root/.mujoco/
+ENV LD_LIBRARY_PATH /root/.mujoco/mjpro150/bin:$LD_LIBRARY_PATH
+
+COPY vendor/Xdummy /usr/local/bin/Xdummy
+RUN chmod +x /usr/local/bin/Xdummy
+
+# Workaround for https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-375/+bug/1674677
+COPY ./vendor/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+WORKDIR /mujoco_py
+# Copy over just requirements.txt at first. That way, the Docker cache doesn't
+# expire until we actually change the requirements.
+COPY ./requirements.txt /mujoco_py/
+COPY ./requirements.dev.txt /mujoco_py/
+RUN pip3 install -r requirements.txt
+RUN pip3 install -r requirements.dev.txt
+
+# Delay moving in the entire code until the very end.
+ENTRYPOINT ["/mujoco_py/vendor/Xdummy-entrypoint"]
+CMD ["pytest"]
+COPY . /mujoco_py
+RUN python3 setup.py install

LICENSE LICENSE.md

@@ -1,6 +1,8 @@
+# mujoco-py
+
 The MIT License
 
-Copyright (c) 2016 OpenAI (http://openai.com)
+Copyright (c) 2017 OpenAI (http://openai.com)
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -19,3 +21,16 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
+
+# Mujoco models
+This work is derived from [MuJuCo models](http://www.mujoco.org/forum/index.php?resources/) used under the following license:
+```
+This file is part of MuJoCo.
+Copyright 2009-2015 Roboti LLC.
+Mujoco		:: Advanced physics simulation engine
+Source		: www.roboti.us
+Version		: 1.31
+Released 	: 23Apr16
+Author		:: Vikash Kumar
+Contacts 	: [email protected]
+```

MANIFEST.in

@@ -0,0 +1,5 @@
+include requirements.txt
+include requirements.dev.txt
+recursive-include mujoco_py *.h *.py *.pyx *.pxd *.pxi *.xml *.c *.so
+include mujoco_py/gl/*.c
+include setup.py

Makefile

@@ -1,7 +1,39 @@
+.PHONY: all clean build test mount_shell shell upload check-env
+
+MUJOCO_LICENSE_PATH ?= ~/.mujoco/mjkey.txt
+
+all: test
+
+clean:
+	rm -rf mujoco_py.egg-info
+	rm -rf */__pycache__
+	rm -rf */*/__pycache__
+	rm -rf mujoco_py/generated/_pyxbld*
+	rm -rf mujoco_py/generated_cymj*
+	rm -rf mujoco_py/cythonlock_*.pyc
+	rm -rf dist
+	rm -rf build
+
+build: check-license
+	cp $(MUJOCO_LICENSE_PATH) mjkey.txt
+	docker build -t mujoco_py . || rm mjkey.txt && rm mjkey.txt
+
+test: build
+	# run it interactive mode so we can abort with CTRL+C
+	docker run --rm -i mujoco_py pytest
+
+mount_shell:
+	docker run --rm -it -v `pwd`:/dev mujoco_py /bin/bash -c "pip uninstall -y mujoco_py; rm -rf /mujoco_py; (cd /dev; /bin/bash)"
+
+shell:
+	docker run --rm -it mujoco_py /bin/bash
+
 upload:
 	rm -rf dist
 	python setup.py sdist
 	twine upload dist/*
 
-test:
-	nose2
+check-license:
+ifeq ("","$(wildcard $(MUJOCO_LICENSE_PATH))")
+    $(error "License key not found at location $(MUJOCO_LICENSE_PATH). Use MUJOCO_LICENSE_PATH to specify its path")
+endif