Adds DockerFile to run the tested environment

.gitignore

@@ -130,3 +130,5 @@ dmypy.json
 
 # vscode
 .vscode/
+
+results*

Dockerfile

@@ -0,0 +1,82 @@
+# Use an official CUDA image as the base
+FROM nvidia/cuda:11.8.0-base-ubuntu18.04
+
+# Set environment variables
+ENV LANG=C.UTF-8 \
+    LC_ALL=C.UTF-8 \
+    PYTHONUNBUFFERED=1 \
+    PATH=/opt/conda/bin:$PATH
+
+# Install system dependencies
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    python3.8 \
+    python3.8-dev \
+    libgl1-mesa-glx \
+    libgl1-mesa-dev \
+    wget \
+    git && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install Miniconda
+RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && \
+    bash Miniconda3-latest-Linux-x86_64.sh -b -p /opt/conda && \
+    rm Miniconda3-latest-Linux-x86_64.sh && \
+    /opt/conda/bin/conda clean -afy
+
+# Create a working directory
+WORKDIR /workspace
+
+# Install MuJoCo dependencies
+RUN apt-get update -q \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    curl \
+    git \
+    libgl1-mesa-dev \
+    libgl1-mesa-glx \
+    libglew-dev \
+    libosmesa6-dev \
+    software-properties-common \
+    net-tools \
+    vim \
+    virtualenv \
+    wget \
+    xpra \
+    xserver-xorg-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sci-artifacts/manual-builds/patchelf_0.9_amd64.elf \
+    && chmod +x /usr/local/bin/patchelf
+
+ENV LANG C.UTF-8
+
+RUN mkdir -p /root/.mujoco \
+    && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
+    && tar -xf mujoco.tar.gz -C /root/.mujoco \
+    && rm mujoco.tar.gz
+
+ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
+
+# Copy environment.yml and install dependencies using conda
+COPY environment.yml /workspace/
+RUN conda env create -f environment.yml && \
+    conda clean -afy
+
+# Set up CUDA paths for PyTorch
+ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH \
+    CUDA_HOME=/usr/local/cuda
+
+RUN conda init bash && \
+    echo "conda activate pgmorl" >> ~/.bashrc
+
+RUN conda init && . ~/.bashrc && conda activate pgmorl && conda remove --force ffmpeg -y
+RUN conda init && . ~/.bashrc && conda activate pgmorl && pip install opencv-python-headless opencv-contrib-python
+RUN apt update && apt install -y ffmpeg \
+    libosmesa6-dev libgl1-mesa-glx libglfw3 \
+    xvfb
+RUN export MUJOCO_GL=egl
+RUN conda init && . ~/.bashrc && conda activate pgmorl && python -c "import gym; gym.make('HalfCheetah-v2')"
+# Default command to run in the container
+CMD ["bash"]

environment.yml

@@ -62,46 +62,46 @@ dependencies:
   - six=1.14.0
   - sqlite=3.31.1
   - tk=8.6.8
-  - torchvision=0.5.0
+  - torchvision
   - wheel=0.34.2
   - xz=5.2.4
   - zlib=1.2.11
   - zstd=1.3.7
   - pip:
-    - backcall==0.2.0
-    - cffi==1.14.0
-    - cloudpickle==1.2.2
-    - cycler==0.10.0
-    - cython==0.29.15
-    - decorator==4.4.2
-    - fasteners==0.15
-    - future==0.18.2
-    - glfw==1.10.1
-    - gym==0.15.3
-    - imageio==2.6.1
-    - ipython==7.15.0
-    - ipython-genutils==0.2.0
-    - jedi==0.17.0
-    - joblib==0.14.1
-    - kiwisolver==1.1.0
-    - matplotlib==3.1.3
-    - monotonic==1.5
-    - mujoco-py==2.0.2.9
-    - parso==0.7.0
-    - pexpect==4.8.0
-    - pickleshare==0.7.5
-    - prompt-toolkit==3.0.5
-    - protobuf==3.11.3
-    - ptyprocess==0.6.0
-    - pycparser==2.19
-    - pyglet==1.4.10
-    - pygments==2.6.1
-    - pyparsing==2.4.6
-    - python-dateutil==2.8.1
-    - pyyaml==5.3
-    - scikit-learn==0.22.1
-    - scipy==1.4.1
-    - sklearn==0.0
-    - tensorboardx==2.0
-    - traitlets==4.3.3
-    - wcwidth==0.2.4
+      - backcall==0.2.0
+      - cffi==1.14.0
+      - cloudpickle==1.2.2
+      - cycler==0.10.0
+      - cython==0.29.15
+      - decorator==4.4.2
+      - fasteners==0.15
+      - future==0.18.2
+      - glfw==1.10.1
+      - gym==0.15.3
+      - imageio==2.6.1
+      - ipython==7.15.0
+      - ipython-genutils==0.2.0
+      - jedi==0.17.0
+      - joblib==0.14.1
+      - kiwisolver==1.1.0
+      - matplotlib==3.1.3
+      - monotonic==1.5
+      - mujoco-py==2.1.*
+      - parso==0.7.0
+      - pexpect==4.8.0
+      - pickleshare==0.7.5
+      - prompt-toolkit==3.0.5
+      - protobuf==3.11.3
+      - ptyprocess==0.6.0
+      - pycparser==2.19
+      - pyglet==1.4.10
+      - pygments==2.6.1
+      - pyparsing==2.4.6
+      - python-dateutil==2.8.1
+      - pyyaml==5.3
+      - scikit-learn==0.22.1
+      - scipy==1.4.1
+      - sklearn==0.0
+      - tensorboardx==2.0
+      - traitlets==4.3.3
+      - wcwidth==0.2.4

environments/__init__.py

@@ -41,4 +41,3 @@
     entry_point = 'environments.humanoid:HumanoidEnv',
     max_episode_steps=1000,
 )
-

environments/half_cheetah.py

@@ -40,4 +40,4 @@ def reset_model(self):
         return self._get_obs()
 
     def viewer_setup(self):
-        self.viewer.cam.distance = self.model.stat.extent * 0.5
+        self.viewer.cam.distance = self.model.stat.extent * 0.5

scripts/plot/mujoco_play.py

@@ -94,4 +94,3 @@
 
 env.close()
 
-