Migrate to CircleCI (#121)

* Prototype CircleCI and Docker config

* Update Docker and setup

* Fix typo in Dockerfile

* Include mujoco_py support

* Install right version of MuJoCo

* CircleCI: fix cache saving

* Fix linting

* Replace local code checks script

* Fix typechecking

* envs: close environment after testing

* Fix Dockerfile and setup.py

* Bugfix: include AIRL example envs assets in install

* CircleCI: codespell - skip notebooks

* test_scripts: reduce Ray resource consumption

* setup.py: fix pytype ignore comment

* test_scripts: limit # of trials running in parallel

* Remove Travis config

* Update status badge in README

* Address code review

* README.md: Bump python version

.circleci/config.yml

@@ -0,0 +1,119 @@
+version: 2.1
+
+orbs:
+  codecov: codecov/[email protected]
+
+executors:
+  my-executor:
+    docker:
+      - image: humancompatibleai/imitation:base
+    working_directory: /imitation
+    environment:
+      # If you change these, also change ci/code_checks.sh
+      SRC_FILES: src/ tests/ experiments/ setup.py
+
+commands:
+  dependencies:
+    # You must still manually update the Docker image if any
+    # binary (non-Python) dependencies change.
+    description: "Check out and update Python dependencies."
+    steps:
+      - checkout
+      # Download and cache dependencies
+      - restore_cache:
+          keys:
+            - v1-dependencies-{{ checksum "setup.py" }}
+
+      - run:
+          name: install dependencies
+          # MUJOCO_KEY is defined in a CircleCI context
+          # Do some sanity checks to make sure key works
+          command: |
+            curl -o /root/.mujoco/mjkey.txt ${MUJOCO_KEY}
+            md5sum /root/.mujoco/mjkey.txt
+            # Only create venv if it's not been restored from cache
+            [[ -d venv ]] || USE_MPI=True ./ci/build_venv.sh
+            python -c "import mujoco_py"
+
+      - save_cache:
+          paths:
+            - ./venv
+          key: v1-dependencies-{{ checksum "setup.py" }}
+
+      - run:
+          name: install imitation
+          # Build a wheel then install to avoid copying whole directory (pip issue #2195)
+          command: |
+            python setup.py sdist bdist_wheel
+            pip install --upgrade dist/imitation-*.whl
+
+jobs:
+  lintandtype:
+    executor: my-executor
+
+    steps:
+      - dependencies
+      - run:
+          name: flake8
+          command: flake8 ${SRC_FILES}
+
+      - run:
+          name: codespell
+          command: codespell -I .codespell.skip --skip='*.pyc,tests/data/*,*.ipynb,*.csv' ${SRC_FILES}
+
+      - run:
+          name: sphinx
+          command: pushd docs/ && make clean && make html && popd
+
+      - run:
+          name: pytype
+          command: pytype ${SRC_FILES}
+
+  unit-test:
+    executor: my-executor
+    parallelism: 3
+    steps:
+      - dependencies
+
+      - run:
+          name: Memory Monitor
+          command: |
+            mkdir /tmp/resource-usage
+            export FILE=/tmp/resource-usage/memory.txt
+            while true; do
+              ps -u root eo pid,%cpu,%mem,args,uname --sort=-%mem >> $FILE
+              echo "----------" >> $FILE
+              sleep 1
+            done
+          background: true
+
+      - run:
+          name: run tests
+          command: |
+            export DISPLAY=:0
+            pytest --cov=venv/lib/python3.7/site-packages/imitation --cov=tests \
+                   --junitxml=/tmp/test-reports/junit.xml \
+                   --shard-id=${CIRCLE_NODE_INDEX} --num-shards=${CIRCLE_NODE_TOTAL} \
+                    -vv tests/
+            mv .coverage .coverage.imitation
+            coverage combine  # rewrite paths from virtualenv to src/
+      - codecov/upload
+
+      - store_artifacts:
+          path: /tmp/test-reports
+          destination: test-reports
+      - store_test_results:
+          path: /tmp/test-reports
+          unit-test:
+      - store_artifacts:
+          path: /tmp/resource-usage
+          destination: resource-usage
+
+workflows:
+  version: 2
+  test:
+    jobs:
+      - lintandtype:
+          context: MuJoCo
+      - unit-test:
+          context: MuJoCo

.dockerignore

@@ -0,0 +1 @@
+.gitignore

.gitignore

@@ -1,5 +1,4 @@
 # Project-specific
-.*/
 .#*
 *.html
 output/
@@ -55,6 +54,7 @@ htmlcov/
 nosetests.xml
 coverage.xml
 *.cover
+*.py,cover
 .hypothesis/
 .pytest_cache/
 
@@ -98,8 +98,12 @@ ipython_config.py
 #   install all needed dependencies.
 #Pipfile.lock
 
-# celery beat schedule file
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
 celerybeat-schedule
+celerybeat.pid
 
 # SageMath parsed files
 *.sage.py
@@ -120,6 +124,9 @@ venv.bak/
 # Rope project settings
 .ropeproject
 
+# PyCharm project settings
+.idea
+
 # mkdocs documentation
 /site
 
@@ -131,6 +138,9 @@ dmypy.json
 # Pyre type checker
 .pyre/
 
+# Pytype type checker
+.pytype/
+
 # Mac OSX
 .DS_STORE
 

Dockerfile

@@ -0,0 +1,78 @@
+# Based on OpenAI's mujoco-py Dockerfile
+
+# base stage contains just binary dependencies.
+# This is used in the CI build.
+FROM nvidia/cuda:10.0-runtime-ubuntu18.04 AS base
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections \
+    && apt-get update -q \
+    && apt-get install -y --no-install-recommends \
+    build-essential \
+    curl \
+    ffmpeg \
+    git \
+    libgl1-mesa-dev \
+    libgl1-mesa-glx \
+    libglew-dev \
+    libosmesa6-dev \
+    net-tools \
+    parallel \
+    python3.7 \
+    python3.7-dev \
+    python3-pip \
+    rsync \
+    software-properties-common \
+    unzip \
+    vim \
+    virtualenv \
+    xpra \
+    xserver-xorg-dev \
+    ttf-mscorefonts-installer \
+    && 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 \
+    && curl -o mjpro150.zip https://www.roboti.us/download/mjpro150_linux.zip \
+    && unzip mjpro150.zip -d /root/.mujoco \
+    && rm mjpro150.zip
+
+# Set the PATH to the venv before we create the venv, so it's visible in base.
+# This is since we may create the venv outside of Docker, e.g. in CI
+# or by binding it in for local development.
+ENV PATH="/imitation/venv/bin:$PATH"
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib64:/root/.mujoco/mjpro150/bin:${LD_LIBRARY_PATH}
+
+# python-req stage contains Python venv, but not code.
+# It is useful for development purposes: you can mount
+# code from outside the Docker container.
+FROM base as python-req
+
+WORKDIR /imitation
+# Copy over just setup.py and __init__.py (including version)
+# to avoid rebuilding venv when requirements have not changed.
+COPY ./setup.py ./setup.py
+COPY ./src/imitation/__init__.py ./src/imitation/__init__.py
+COPY ./ci/build_venv.sh ./ci/build_venv.sh
+# mjkey.txt needs to exist for build, but doesn't need to be a real key
+RUN    touch /root/.mujoco/mjkey.txt \
+    && ci/build_venv.sh \
+    && rm -rf $HOME/.cache/pip
+
+# full stage contains everything.
+# Can be used for deployment and local testing.
+FROM python-req as full
+
+# Delay copying (and installing) the code until the very end
+COPY . /imitation
+# Build a wheel then install to avoid copying whole directory (pip issue #2195)
+RUN python3 setup.py sdist bdist_wheel
+RUN pip install --upgrade dist/imitation-*.whl
+
+# Default entrypoints
+CMD ["pytest", "-n", "auto", "-vv", "tests/"]

README.md

@@ -1,4 +1,4 @@
-[![Build Status](https://travis-ci.com/HumanCompatibleAI/imitation.svg?branch=master)](https://travis-ci.com/HumanCompatibleAI/imitation)
+[![CircleCI](https://circleci.com/gh/HumanCompatibleAI/imitation.svg?style=svg)](https://circleci.com/gh/HumanCompatibleAI/imitation)
 [![codecov](https://codecov.io/gh/HumanCompatibleAI/imitation/branch/master/graph/badge.svg)](https://codecov.io/gh/HumanCompatibleAI/imitation)
 
 # Imitation Learning Baseline Implementations
@@ -10,7 +10,7 @@ Currently we have implementations of [AIRL](https://arxiv.org/abs/1710.11248) an
 To install:
 ```
 sudo apt install libopenmpi-dev
-conda create -n imitation python=3.7  # python 3.6 and virtualenv are also okay.
+conda create -n imitation python=3.8  # python 3.7 and virtualenv are also okay.
 conda activate imitation
 pip install -e '.[dev]'  # install `imitation` in developer mode
 ```

ci/build_venv.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+set -e  # exit immediately on any error
+
+venv=venv
+virtualenv -p python3.7 ${venv}
+source ${venv}/bin/activate
+pip install .[cpu,dev,test] gym[mujoco]

ci/code_checks.sh

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+
+# If you change these, also change .circle/config.yml.
+SRC_FILES=(src/ tests/ experiments/ setup.py)
+
+set -x  # echo commands
+set -e  # quit immediately on error
+
+echo "Source format checking"
+flake8 ${SRC_FILES}
+codespell -I .codespell.skip --skip='*.pyc,tests/data/*,*.ipynb,*.csv' ${SRC_FILES}
+
+if [ -x "`which circleci`" ]; then
+    circleci config validate
+fi
+
+if [ "$skipexpensive" != "true" ]; then
+  echo "Building docs (validates docstrings)"
+  pushd docs/
+  make clean
+  make html
+  popd
+
+  echo "Type checking"
+  pytype ${SRC_FILES}
+fi