Merge dev back into branch

Author: weidler

.gitignore

@@ -1,4 +1,4 @@
-migration-venv/
+*venv/
 docs/analysis/*
 MUJOCO_LOG.TXT
 

angorapy/environments/__init__.py

@@ -23,7 +23,8 @@
     from angorapy.environments.adapted import InvertedPendulumNoVelEnv, ReacherNoVelEnv, HalfCheetahNoVelEnv, \
         LunarLanderContinuousNoVel, LunarLanderMultiDiscrete
     from angorapy.environments.manipulate import ManipulateBlock, ManipulateEgg, ManipulateBlockDiscrete, OpenAIManipulate, \
-        OpenAIManipulateDiscrete, HumanoidManipulateBlockDiscrete, HumanoidManipulateBlockDiscreteAsynchronous
+        OpenAIManipulateDiscrete, HumanoidManipulateBlockDiscrete, HumanoidManipulateBlockDiscreteAsynchronous, \
+        HumanoidManipulateBlockAsynchronous, HumanoidManipulateBlock
     from angorapy.environments.reach import Reach, FreeReach, FreeReachSequential, ReachSequential
 
     # SHADOW HAND
@@ -202,6 +203,21 @@
         max_episode_steps=50 * 100,
     )
 
+    gym.envs.register(
+        id=f'HumanoidManipulateBlockAsynchronous-v0',
+        entry_point='angorapy.environments:HumanoidManipulateBlockAsynchronous',
+        kwargs={"delta_t": 0.008},
+        max_episode_steps=50 * 100,
+    )
+
+    gym.envs.register(
+        id=f'HumanoidManipulateBlock-v0',
+        entry_point='angorapy.environments:HumanoidManipulateBlock',
+        kwargs={"delta_t": 0.008},
+        max_episode_steps=50 * 100,
+    )
+
+
     # MODIFIED ENVIRONMENTS
 
     gym.envs.register(

angorapy/environments/manipulate.py

@@ -505,8 +505,19 @@ def _get_obs(self):
         }
 
 
+class HumanoidManipulateBlock(HumanoidManipulateBlockDiscrete):
+    continuous = True
+    asynchronous = False
+
+
 class HumanoidManipulateBlockDiscreteAsynchronous(HumanoidManipulateBlockDiscrete):
     asynchronous = True
+    continuous = False
+
+
+class HumanoidManipulateBlockAsynchronous(HumanoidManipulateBlockDiscrete):
+    asynchronous = True
+    continuous = True
 
 
 class OpenAIManipulateDiscrete(OpenAIManipulate):

docker/Dockerfile

@@ -61,8 +61,7 @@ ENV LD_LIBRARY_PATH="/usr/local/nvidia/lib64:$LD_LIBRARY_PATH"
 ENV LD_LIBRARY_PATH="/usr/local/cuda-11.2/lib64:$LD_LIBRARY_PATH"
 
 # matplotlib
-RUN mkdir /mplconfs
-ENV MPLCONFIGDIR="/mplconfs"
+ENV MPLCONFIGDIR=/var/cache/matplotlib
 
 # SETUP ENV
 ENV VIRTUAL_ENV=/venv

pull.sh

@@ -37,13 +37,13 @@ fi
 # zip on server and pull
 if [ -z ${ID} ]; then
   echo "Zipping entire storage."
-  ZIP_COMMAND="zip -r $BASE_DIRECTORY/storage.zip $BASE_DIRECTORY/ -x $BASE_DIRECTORY/experience/\* "
+  ZIP_COMMAND="zip -ur $BASE_DIRECTORY/storage.zip $BASE_DIRECTORY/ -x $BASE_DIRECTORY/experience/\* "
   if [ "$ONLY_STATS" = true ]; then
     ZIP_COMMAND="$ZIP_COMMAND -x $BASE_DIRECTORY/saved_models/\*"
   fi
 else
   echo "Updating/Adding $ID to zip file."
-  ZIP_COMMAND="zip -r $BASE_DIRECTORY/storage.zip $BASE_DIRECTORY/experiments/$ID/ "
+  ZIP_COMMAND="zip -ur $BASE_DIRECTORY/storage.zip $BASE_DIRECTORY/experiments/$ID/ "
   if [ "$ONLY_STATS" = false ]; then
     ZIP_COMMAND="$ZIP_COMMAND $BASE_DIRECTORY/saved_models/$ID/"
   fi
@@ -55,10 +55,10 @@ echo $ZIP_COMMAND
 ssh $HOST $ZIP_COMMAND
 scp $HOST:$BASE_DIRECTORY/storage.zip .
 
-unzip -n storage.zip -d storage/
+unzip -o storage.zip -d storage/
 cp -r storage/$BASE_DIRECTORY/* storage/
 
 # cleanup
-IFS="/" read -a PATH_ARRAY <<< $BASE_DIRECTORY
-rm -r storage/$PATH_ARRAY[0]
+IFS="/" read -a PATH_ARRAY <<< "$BASE_DIRECTORY"
+rm -r storage/${PATH_ARRAY[1]}
 rm storage.zip

requirements.txt

@@ -6,6 +6,7 @@ tensorflow==2.4.2
 tensorflow_datasets
 mpi4py==3.1.3
 
+protobuf==3.19.0
 nvidia_smi
 nvidia-ml-py3
 tqdm~=4.59.0