test dockerfiles for ubuntu 14.04 and 18.04 (openai#1168)

* pass device_id=-1 when rendering mujoco in rgb_array mode

* trying ubuntu18.04 build

* use travis build matrix

* use travis build matrix

* use travis build matrix

* use fix 18.04 installation steps

* use fix 18.04 installation steps

* try py3 instead of py35

* trying the 14.04 build; cleaning up the 16.04 package list

* fixes to dockerfile.14.04

* fixes to dockerfile.14.04

* fixes to dockerfile.14.04

* fixes to dockerfile.14.04

* fixes to dockerfile.14.04

* fixing system package list for 14.04

* 16.04 build working

* clean up test.dockerfile.16.04

* adding python-numpy system package

* add patchelf

* remove python-numpy from 16.04 dockerfile

* 14.04 does not use mujoco (patchelf problem)

* cleaning up 18.04 dockerfile

* added comment to 14.04 dockerfile

* fix syntax in 14.04 dockerfile

* being fancy and switching from apt-get to apt command in 18.04 dockerfile

* update README.rst to use apt (instead of apt-get) on ubuntu 18.04

.travis.yml

@@ -2,13 +2,12 @@ sudo: required
 language: python
 services:
   - docker
-before_install:
-  - docker build -f test.dockerfile -t gym-test .
+env:
+  - UBUNTU_VER=14.04
+  - UBUNTU_VER=16.04
+  - UBUNTU_VER=18.04
+
 install: "" # so travis doesn't do pip install requirements.txt
 script:
+  - docker build -f test.dockerfile.${UBUNTU_VER} -t gym-test .
   - docker run -e MUJOCO_KEY=$MUJOCO_KEY gym-test tox
-
-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

README.rst

@@ -74,25 +74,37 @@ Installing everything
 
 To install the full set of environments, you'll need to have some system
 packages installed. We'll build out the list here over time; please let us know
-what you end up installing on your platform.
+what you end up installing on your platform. Also, take a look at the docker files (test.dockerfile.xx.xx) to 
+see the composition of our CI-tested images. 
 
 On OSX:
 
 .. code:: shell
 
     brew install cmake boost boost-python sdl2 swig wget
 
-On Ubuntu 14.04:
+On Ubuntu 14.04 (non-mujoco only):
 
 .. code:: shell
 
-    apt-get install -y python-numpy python-dev cmake zlib1g-dev libjpeg-dev xvfb libav-tools xorg-dev python-opengl libboost-all-dev libsdl2-dev swig
+    apt-get install libjpeg-dev cmake swig python-pyglet python3-opengl libboost-all-dev \
+            libsdl2-2.0.0 libsdl2-dev libglu1-mesa libglu1-mesa-dev libgles2-mesa-dev \
+            freeglut3 xfvb libav-tools
+
+
+On Ubuntu 16.04:
+
+.. code:: shell
+    apt-get install -y python-pyglet python3-opengl zlib1g-dev libjpeg-dev patchelf \
+            cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
 
 On Ubuntu 18.04:
 
 .. code:: shell
 
-    apt-get install -y python-numpy python-dev cmake zlib1g-dev libjpeg-dev xvfb ffmpeg xorg-dev python-opengl libboost-all-dev libsdl2-dev swig
+    apt install -y python3-dev zlib1g-dev libjpeg-dev cmake swig python-pyglet python3-opengl libboost-all-dev libsdl2-dev \
+        libosmesa6-dev patchelf ffmpeg xvf
+
 
 MuJoCo has a proprietary dependency we can't set up for you. Follow
 the

bin/docker_entrypoint

@@ -1,12 +1,14 @@
 #!/bin/bash
 # This script is the entrypoint for our Docker image.
 
-set -ex
+set -x
 
 if [[ ! -z "$MUJOCO_KEY" ]]; then 
     echo $MUJOCO_KEY | base64 --decode > /root/.mujoco/mjkey.txt
 fi
 
+set -ex
+
 # Set up display; otherwise rendering will fail
 Xvfb -screen 0 1024x768x24 &
 export DISPLAY=:0

gym/envs/mujoco/mujoco_env.py

@@ -133,10 +133,9 @@ def _get_viewer(self, mode):
         if self.viewer is None:
             if mode == 'human':
                 self.viewer = mujoco_py.MjViewer(self.sim)
-
             elif mode == 'rgb_array' or mode == 'depth_array':
                 self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, -1)
-
+                
             self.viewer_setup()
             self._viewers[mode] = self.viewer
         return self.viewer

test.dockerfile.14.04

@@ -0,0 +1,46 @@
+# A Dockerfile that sets up a full Gym install with test dependencies
+FROM ubuntu:14.04
+# Note that latest version of mujoco-py, 1.5, does not play nicely with ubuntu 14.04 - 
+# requires patchelf system package not available on 14.04
+
+# Install keyboard-configuration separately to avoid travis hanging waiting for keyboard selection
+RUN \
+    apt-get -y update && \
+    apt-get install -y keyboard-configuration && \
+
+    apt-get install -y \ 
+        python-setuptools \
+        python-pip \
+        python3-dev \
+        libjpeg-dev \
+        cmake \
+        swig \
+        python-pyglet \
+        python3-opengl \
+        libboost-all-dev \
+        libsdl2-2.0.0 \
+        libsdl2-dev \
+        libglu1-mesa \
+        libglu1-mesa-dev \
+        libgles2-mesa-dev \
+        xvfb \
+        libav-tools \
+        freeglut3 \
+        wget \
+        unzip && \
+
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/* && \
+    pip install tox 
+
+
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/root/.mujoco/mjpro150/bin
+
+# install dependencies
+COPY . /usr/local/gym/
+RUN cd /usr/local/gym && \
+    tox --notest 
+
+WORKDIR /usr/local/gym/
+ENTRYPOINT ["/usr/local/gym/bin/docker_entrypoint"]
+CMD ["tox"]

test.dockerfile → test.dockerfile.16.04

@@ -15,27 +15,21 @@ RUN \
     apt-get install -y \ 
         python-setuptools \
         python-pip \
-        libpq-dev \
+        python3-dev \
+        python-pyglet \
+        python3-opengl \
         zlib1g-dev \
         libjpeg-dev \
-        curl \
         cmake \
         swig \
-        python-opengl \
-        python-numpy \
-        python-pyglet \
-        python3-opengl \
         libboost-all-dev \
         libsdl2-dev \
         libosmesa6-dev \
         patchelf \
-        wget \
-        unzip \
-        git \
-        vim \
         xvfb \
         ffmpeg \
-        python3-dev && \
+        wget \
+        unzip && \
 
     apt-get clean && \
     rm -rf /var/lib/apt/lists/* && \

test.dockerfile.18.04

@@ -0,0 +1,47 @@
+# A Dockerfile that sets up a full Gym install with test dependencies
+FROM ubuntu:18.04
+
+# Install keyboard-configuration separately to avoid travis hanging waiting for keyboard selection
+RUN \
+    apt -y update && \
+    apt install -y keyboard-configuration && \
+
+    apt install -y \ 
+        python-setuptools \
+        python-pip \
+        python3-dev \
+        python-pyglet \
+        python3-opengl \
+        zlib1g-dev \
+        libjpeg-dev \
+        cmake \
+        swig \
+        libboost-all-dev \
+        libsdl2-dev \
+        libosmesa6-dev \
+        patchelf \
+        ffmpeg \
+        xvfb \
+        wget \
+        unzip && \
+
+    apt clean && \
+    rm -rf /var/lib/apt/lists/* && \
+    pip install tox && \
+
+# Download mujoco
+    mkdir /root/.mujoco && \
+    cd /root/.mujoco  && \
+    wget https://www.roboti.us/download/mjpro150_linux.zip  && \
+    unzip mjpro150_linux.zip
+
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/root/.mujoco/mjpro150/bin
+
+# install dependencies
+COPY . /usr/local/gym/
+RUN cd /usr/local/gym && \
+    tox --notest 
+
+WORKDIR /usr/local/gym/
+ENTRYPOINT ["/usr/local/gym/bin/docker_entrypoint"]
+CMD ["tox"]

tox.ini

@@ -4,9 +4,9 @@
 # and then run "tox" from this directory.
 
 [tox]
-envlist = py35
+envlist = py3
 
-[testenv:py35]
+[testenv:py3]
 whitelist_externals=make
 passenv=DISPLAY TRAVIS*
 deps =