travis build and test failure fixes (openai#1031)

* build test image from scratch from ubuntu:16.04

* removed pulling old image from .travis.yml

* try installing keyboard-configuration on docker on travis

* trying install keyboard-configuration before rest of the packages

* upgrading dockerfile and entrypoint to work with ubuntu16.04

* fixing dummy display config wip

* install keyboard-properties first in dockerfile

* pass mujoco_key in .travis.yml

* skipsdist in tox.ini

* removed unpacking of the mujoco bundle in entrypoint

* using xvfb for fake display

* comment out self.viewer.close

* install ffmpeg

* squash run commands in dockerfile

* fixed typo in dockerfile

* fixed typo in dockerfile

* fixed typo in dockerfile

* use self.np_random in robotics/hand/manipulate

* some cleanups in .travis.yml

* cleaning up accidental changes

* cleaning up accidental changes

* inject mujoco key on runtime (instead of container buildtime)

* remove webhooks section from .travis.yml

.travis.yml

@@ -3,24 +3,12 @@ language: python
 services:
   - docker
 before_install:
-  # Prime the cache. We currently manually keep this synced.
-  - docker pull quay.io/openai/gym:test
-  # - docker build -f test.dockerfile -t quay.io/openai/gym:test .
-  # ^^^ commented out by joschu 2017/9/3
-  # build command fails due to apt issue "The following packages have unmet dependencies:"
+  - docker build -f test.dockerfile -t gym-test .
 install: "" # so travis doesn't do pip install requirements.txt
 script:
-  # In a pull request, there are no secrets, and hence no MuJoCo:
-  # https://docs.travis-ci.com/user/pull-requests#Security-Restrictions-when-testing-Pull-Requests.
-  - docker run -e MUJOCO_KEY_BUNDLE="${MUJOCO_KEY_BUNDLE:-}" quay.io/openai/gym:test tox
+  - docker run -e MUJOCO_KEY=$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
-  webhooks:
-    urls:
-      - https://hooks.zapier.com/hooks/catch/1711022/6ztmzh/
-      - https://hooks.zapier.com/hooks/catch/1711022/6zhc8p/
-    on_success: always
-    on_failure: always

Dockerfile

@@ -1,11 +1,8 @@
 # A Dockerfile that sets up a full Gym install
-FROM ubuntu:14.04
+FROM ubuntu:16.04
 
 RUN apt-get update \
     && apt-get install -y libav-tools \
-    python-numpy \
-    python-scipy \
-    python-pyglet \
     python-setuptools \
     libpq-dev \
     libjpeg-dev \

bin/docker_entrypoint

@@ -1,20 +1,17 @@
 #!/bin/sh
-
 # This script is the entrypoint for our Docker image.
 
 set -e
 
-path=$(cd $(dirname "$0") && pwd)
-
-[ -z "${MUJOCO_KEY_BUNDLE}" ] || ( mkdir -p ~/.mujoco && curl https://openai-public.s3-us-west-2.amazonaws.com/mujoco/$MUJOCO_KEY_BUNDLE.tar.gz | tar xz -C ~/.mujoco )
+# Inject the mujoco license key (if planning to publish image, this step has to be runtime)
+echo $MUJOCO_KEY | base64 --decode > /root/.mujoco/mjkey.txt
 
 # Set up display; otherwise rendering will fail
-rm -f /tmp/.X12-lock
-"$path/../vendor/Xdummy" :12 &
-export DISPLAY=:12
+Xvfb -screen 0 1024x768x24 &
+export DISPLAY=:0
 
 # Wait for the file to come up
-display=12
+display=0
 file="/tmp/.X11-unix/X$display"
 for i in $(seq 1 10); do
     if [ -e "$file" ]; then

gym/envs/mujoco/mujoco_env.py

@@ -112,7 +112,7 @@ def render(self, mode='human'):
 
     def close(self):
         if self.viewer is not None:
-            self.viewer.finish()
+            # self.viewer.finish()
             self.viewer = None
 
     def _get_viewer(self):

gym/envs/robotics/hand/manipulate.py

@@ -161,7 +161,7 @@ def _reset_sim(self):
                 initial_quat = rotations.quat_mul(initial_quat, offset_quat)
             elif self.target_rotation in ['xyz', 'ignore']:
                 angle = self.np_random.uniform(-np.pi, np.pi)
-                axis = np.random.uniform(-1., 1., size=3)
+                axis = self.np_random.uniform(-1., 1., size=3)
                 offset_quat = quat_from_angle_and_axis(angle, axis)
                 initial_quat = rotations.quat_mul(initial_quat, offset_quat)
             elif self.target_rotation == 'fixed':
@@ -223,7 +223,7 @@ def _sample_goal(self):
             target_quat = rotations.quat_mul(target_quat, parallel_quat)
         elif self.target_rotation == 'xyz':
             angle = self.np_random.uniform(-np.pi, np.pi)
-            axis = np.random.uniform(-1., 1., size=3)
+            axis = self.np_random.uniform(-1., 1., size=3)
             target_quat = quat_from_angle_and_axis(angle, axis)
         elif self.target_rotation in ['ignore', 'fixed']:
             target_quat = self.sim.data.get_joint_qpos('object:joint')

gym/envs/robotics/robot_env.py

@@ -83,7 +83,7 @@ def reset(self):
 
     def close(self):
         if self.viewer is not None:
-            self.viewer.finish()
+            # self.viewer.finish()
             self.viewer = None
 
     def render(self, mode='human'):

test.dockerfile

@@ -1,44 +1,62 @@
-# A Dockerfile that sets up a full Gym install
-FROM quay.io/openai/gym:base
-
-RUN apt-get update \
-    && apt-get install -y libav-tools \
-    python-numpy \
-    python-scipy \
-    python-pyglet \
-    python-setuptools \
-    libpq-dev \
-    libjpeg-dev \
-    curl \
-    cmake \
-    swig \
-    python-opengl \
-    libboost-all-dev \
-    libsdl2-dev \
-    wget \
-    unzip \
-    git \
-    xpra \
-    libav-tools  \
-    python3-dev \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/* \
-    && easy_install pip
+# A Dockerfile that sets up a full Gym install with test dependencies
+FROM ubuntu:16.04
 
-WORKDIR /usr/local/gym/
-RUN mkdir -p gym && touch gym/__init__.py
-COPY ./gym/version.py ./gym/
-COPY ./requirements.txt ./
-COPY ./setup.py ./
-COPY ./tox.ini ./
-
-RUN pip install tox
-# Install the relevant dependencies. Keep printing so Travis knows we're alive.
-RUN ["bash", "-c", "( while true; do echo '.'; sleep 60; done ) & tox --notest"]
-
-# Finally, clean cached code (including dot files) and upload our actual code!
-RUN mv .tox /tmp/.tox && rm -rf .??* * && mv /tmp/.tox .tox
+# Install keyboard-configuration separately to avoid travis hanging waiting for keyboard selection
+RUN \
+    apt-get -y update && \
+    apt-get install -y keyboard-configuration && \
+
+# Maybe Install python3.6 on ubuntu 16.04 ?
+#    apt-get install -y software-properties-common && \
+#    add-apt-repository -y ppa:jonathonf/python-3.6 && \
+#    apt-get -y update && \
+#    apt-get -y install python3.6 python3.6-distutils python3.6-dev
+
+    apt-get install -y \ 
+        python-setuptools \
+        python-pip \
+        libpq-dev \
+        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 && \
+
+    apt-get 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 && \
+
+# setup vim to be humane and compatible with codebase standards
+    echo "set expandtab number shiftwidth=4 tabstop=4" > /root/.vimrc
+
+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 = py27, py34
+envlist = py35
 
-[testenv:py34]
+[testenv:py35]
 whitelist_externals=make
 passenv=DISPLAY TRAVIS*
 deps =
@@ -18,7 +18,7 @@ deps =
     pachi-py>=0.0.19
     box2d-py
     doom_py>=0.0.11
-    mujoco_py<1.0.0,>=0.4.3
+    mujoco_py>=1.50.1,<1.50.2
     keras
     theano
     numpy>=1.10.4