Add make command for running test on GPU host (openai#91)

Makes it easy to run tests on a GPU host. Also cleaned up the various test marks.

.appveyor.yml

@@ -26,14 +26,13 @@ install:
     - conda create -q -n test-environment python=3.5 numpy scipy
     - activate test-environment
     - SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%;
-    - SET RENDERING_OFF=1
     - cd C:\projects\mujoco-py
     - pip install -r requirements.txt
     - pip install -r requirements.dev.txt
 
 build: off
 
 test_script:
-    - pytest -s --verbose --durations=10 --instafail
+    - pytest -s --verbose --durations=10 --instafail -m "not requires_rendering"
 
 

.dockerignore

@@ -47,3 +47,4 @@ outputfile
 tmp*
 cymj.c
 **/.git
+**/*.so

Makefile

@@ -35,6 +35,12 @@ test: build
 	# run it interactive mode so we can abort with CTRL+C
 	$(DOCKER) run --rm -i $(DOCKER_NAME) pytest
 
+test_gpu: build push
+	$(eval NODE="$(shell cirrascale-cli reserve -g 1080ti -t 10m)")
+	$(eval GPUS="$(shell echo $(NODE)| grep -oE '[^:]+f' | cut -c1-1 )")
+	$(eval NODE="$(shell echo $(NODE)| grep -oE '[^=]+:' | sed 's/://')")
+	ssh -t -o StrictHostKeyChecking=no $(NODE) 'docker pull $(DOCKER_NAME) && export GPUS=$(GPUS) && nvidia-docker run --rm -e GPUS -i $(DOCKER_NAME) pytest -m "not requires_glfw"'
+
 shell:
 	$(DOCKER) run --rm -it $(DOCKER_NAME) /bin/bash
 
@@ -48,7 +54,6 @@ cirra:
 	tmux new-session  "while :; do rsync -e 'ssh -o StrictHostKeyChecking=no' --delete -rzai --out-format='%t %f %b' --chmod=Du+rwx --exclude='dist' --exclude='cymj.c' --exclude='_pyxbld_*' --exclude='*extensionbuilder.so' --exclude='__pycache__' --exclude='*.egg-info' --exclude='.cache' --exclude='.git' --exclude='*.pyc' --exclude='*.swp' --exclude='.idea' . $(NODE):~/mujoco_py/ ; sleep 1; done" \; \
 	     split-window "ssh -t -o StrictHostKeyChecking=no $(NODE) 'mkdir -p ~/mujoco_py && cd ~/mujoco_py && export GPUS=$(GPUS) && /bin/bash'; " \; select-layout 9ce0,204x51,0,0[204x4,0,0,32,204x46,0,5,33]
 
-
 upload:
 	rm -rf dist
 	python setup.py sdist

README.md

@@ -75,6 +75,14 @@ To run the provided unit and integrations tests:
 make test
 ```
 
+To test GPU-backed rendering, run:
+
+```
+make test_gpu
+```
+
+This is somewhat dependent on internal OpenAI infrastructure at the moment, but it should run if you change the `Makefile` parameters for your own setup.
+
 ## Credits
 
 `mujoco-py` is maintained by the OpenAI Robotics team. Contributors include:

mujoco_py/tests/test_cymj.py

@@ -8,7 +8,7 @@
                        ignore_mujoco_warnings,
                        load_model_from_mjb)
 from mujoco_py import const, cymj
-from mujoco_py.tests.utils import compare_imgs, requires_rendering
+from mujoco_py.tests.utils import compare_imgs
 import scipy.misc
 from threading import Thread, Event
 from multiprocessing import get_context
@@ -54,7 +54,7 @@ def test_mj_sim_basics():
     sim.forward()
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_arrays_of_objs():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -554,7 +554,7 @@ def test_xvelr():  # xvelr = rotational velocity in world frame
     np.testing.assert_allclose(body2_xvelr, sim.data.body_xvelr[2])
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_rendering():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -587,7 +587,7 @@ def test_rendering():
     compare_imgs(img, 'test_rendering_markers.camera1.png')
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_rendering_failing():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -607,7 +607,7 @@ def test_rendering_failing():
         pass
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_viewercontext():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -621,7 +621,7 @@ def test_viewercontext():
                         label="mark")
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_many_sims_rendering():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sims = [MjSim(model) for _ in range(5)]
@@ -649,7 +649,9 @@ def test_sensors():
     sim.data.get_sensor("touchsensor")
 
 
-@pytest.mark.skipif("Darwin" not in sys.platform, reason="Only Darwin code is thread safe.")
+@pytest.mark.requires_rendering
+@pytest.mark.skipif("Darwin" not in sys.platform,
+                    reason="Only Darwin code is thread safe.")
 def test_concurrent_rendering():
     '''Best-effort testing that concurrent multi-threaded rendering works.
     The test has no guarantees around being deterministic, but if it fails
@@ -683,7 +685,7 @@ def func(sim, event):
         thread.join()
     assert err is None, "Exception: %s" % (str(err))
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_high_res():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)

mujoco_py/tests/test_examples.py

@@ -3,11 +3,12 @@
 import os.path
 import mujoco_py
 import sys
-from mujoco_py.tests.utils import requires_rendering
+import pytest
 mujoco_py_root = os.path.dirname(os.path.dirname(mujoco_py.__file__))
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
+@pytest.mark.requires_glfw
 def test_examples():
     scripts = glob.glob("%s/examples/*.py" % mujoco_py_root)
     env = os.environ.update({'TESTING': 'true'})

mujoco_py/tests/test_modder.py

@@ -1,6 +1,7 @@
+import pytest
 from mujoco_py import MjSim, load_model_from_xml
 from mujoco_py.modder import MaterialModder, TextureModder
-from mujoco_py.tests.utils import compare_imgs, requires_rendering
+from mujoco_py.tests.utils import compare_imgs
 import numpy as np
 
 BASIC_MODEL_XML = """
@@ -31,7 +32,7 @@
 </mujoco>
 """
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_textures():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -85,7 +86,7 @@ def test_textures():
     compare_imgs(sim.render(201, 205, camera_name="topcam"),
                  'test_textures.rand_texrepeat.png')
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_materials():
     model = load_model_from_xml(BASIC_MODEL_XML)
     sim = MjSim(model)
@@ -107,7 +108,7 @@ def test_materials():
     compare_imgs(sim.render(201, 205, camera_name="topcam"),
                  'test_materials.rand_all.png')
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_multiple_sims():
     # Ensure that creating new simulators still produces good renderings.
     xml = """
@@ -138,7 +139,7 @@ def test_multiple_sims():
                 'test_multiple_sims.loop%d_%d.png' % (i, j))
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_resetting():
     # Ensure that resetting environment and creating new simulators
     # still produces good renderings.

mujoco_py/tests/test_render_pool.py

@@ -9,7 +9,7 @@
 
 from mujoco_py import MjSim, MjRenderPool, load_model_from_xml
 from mujoco_py.modder import TextureModder
-from mujoco_py.tests.utils import compare_imgs, requires_rendering
+from mujoco_py.tests.utils import compare_imgs
 
 BASIC_MODEL_XML = """
 <mujoco>
@@ -42,7 +42,7 @@
 """
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_spawn():
     # pytest and nose both use 'fork' by default, so we
     # expect a runtime error
@@ -51,7 +51,7 @@ def test_spawn():
         MjRenderPool(model, n_workers=3)
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
 def test_multiprocessing():
     # pytest doesn't work well with multiprocessing, so just
     # run the multiprocessing tests manually by running this

mujoco_py/tests/test_viewer.py

@@ -1,9 +1,10 @@
+import pytest
 from mujoco_py import load_model_from_path, MjSim
 from mujoco_py.mjviewer import MjViewer
-from mujoco_py.tests.utils import requires_rendering
 
 
-@requires_rendering
+@pytest.mark.requires_rendering
+@pytest.mark.requires_glfw
 def test_viewer():
     model = load_model_from_path("mujoco_py/tests/test.xml")
     sim = MjSim(model)

mujoco_py/tests/utils.py

@@ -50,8 +50,3 @@ def compare_imgs(img, truth_filename, do_assert=True):
     if do_assert:
         assert diff <= 1
     return diff
-
-
-# Skips test when RENDERING_OFF.
-requires_rendering = pytest.mark.skipif(os.environ.get("RENDERING_OFF", False),
-                                        reason="Skip test when system doesn't support rendering")