singularity.def

Bootstrap: library
From: airl_lab/default/airl_env:base_2.0


%labels
    Author maxime.allard@imperial.ac.uk
    Version v0.1

%files
    ./resources/setup.sh /git/sferes2	
    ../resources/hbr_repertoires/hbr_gp_repertoire.zip /git/sferes2
    ../resources/flat_repertoires/flat_8D_repertoire.zip /git/sferes2
    ../resources/flat_repertoires/flat_2D_repertoire.zip /git/sferes2
    ../resources/aprol_repertoires/aprol_repertoire.zip /git/sferes2
%post
   export LD_LIBRARY_PATH="/workspace/lib:$LD_LIBRARY_PATH"

   ##INSTALLING PYTHON 
   apt-get update
   ##apt-get upgrade
   DEBIAN_FRONTEND=noninteractive apt-get install -y python3-matplotlib python3-numpy python3-tk python3-dev python3-pip gdb -qq
   DEBIAN_FRONTEND=noninteractive apt-get install -y  python-numpy python2.7-dev
   apt-get install -y ffmpeg  # For saving videos with robot_dart
   apt-get install -y valgrind kcachegrind unzip

   pip3 install seaborn pandas python-gitlab plotly -q

   ## INSTALLING LIMBO
   cd /git
   git clone https://github.com/resibots/limbo.git
   cd limbo
   ./waf configure --prefix /workspace # general and initial configuration 
   ./waf build
   
   export GIT_SSL_NO_VERIFY=1

   ## INSTALLING MCTS LIBRARY
   cd /git
   git clone https://github.com/resibots/chatzilygeroudis_2018_rte.git
   cd chatzilygeroudis_2018_rte/mcts
   
   # add lines to the include files in order to prevent compilation error from missing libraries 
   sed -i "/mcts\/uct.hpp/a #include <random>" src/toy_sim.cpp
   sed -i "/define MCTS_DEFAULTS_HPP/a #include <cmath>" include/mcts/defaults.hpp
   python2 ./waf configure --prefix /workspace
   python2 ./waf
   python2 ./waf install

   cd /git/sferes2/exp
   #mkdir -p ./hte/resources/
   mkdir -p ./HTE

   cd /git/sferes2/
   mkdir -p ./exp/resources/
   unzip -o hbr_gp_repertoire.zip -d ./exp/resources/hbr_repertoires
   unzip -o flat_8D_repertoire.zip -d ./exp/resources/flat_repertoires
   unzip -o flat_2D_repertoire.zip -d ./exp/resources/flat_repertoires
   unzip -o aprol_repertoire.zip -d ./exp/resources/aprol_repertoires

   #cd ./hte/resources/hbr_repertoires
   #unzip -o hbr_gp_repertoire.zip 
   #cd ../flat_repertoires
   #unzip -o flat_8D_repertoire.zip
   #unzip -o flat_2D_repertoire.zip
   #cd ../aprol_repertoires
   #unzip -o aprol_repertoire.zip
   
   #====================================================================================================
   exit 0 #NOTFORFINAL - the lines below this "exit" will be executed only when building the final image
   #====================================================================================================

   git clone  --recurse-submodules  https://github.com/adaptive-intelligent-robotics/HTE.git ./HTE

   cd /git/sferes2/
   ./setup.sh
   
%runscript

    if [ $# -gt 1 ]; then
        echo "Invalid command. Please run 'singularity help <container name>' for help."
	exit
    fi

    CURPATH=$(pwd)
    if [ ! -d ./results ]; then
        mkdir results
    fi
    
    cd /git/limbo/


    if [ $# -eq 0 ]; then
        ./build/exp/HTE/hte_graphic
   	exit
    fi
    
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$
    mkdir $CURPATH/results/$PATHNAME

%apprun low_dim

    export HOME=/tmp/home
    mkdir $HOME
    D=$(/opt/TurboVNC/bin/vncserver 2>&1 | grep "Desktop" | awk '{print $3}' | sed 's/.*://g')
    export DISPLAY=':'$D
    
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt
    cd $CURPATH
    if [ ! -d ./results ]; then
        mkdir results
    fi
    cd /git/sferes2/
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$_$1

    ARCHIVE_NR=$1

    mkdir $CURPATH/results/$PATHNAME
    #cp exp/HTE/python/analysis_hexa_omni.py $CURPATH/results/$PATHNAME
    #build/exp/HTE/low_dim_graphic -d $CURPATH/results/$PATHNAME 
    
    for i in 0 1 2 3 4 5 6
    do
        echo $i
        mkdir $CURPATH/results/$PATHNAME/$i
        build/exp/HTE/low_dim_graphic -d $CURPATH/results/$PATHNAME/$i -l $i -r $ARCHIVE_NR 2>/dev/null
    done

%apprun high_dim

    export HOME=/tmp/home
    mkdir $HOME
    D=$(/opt/TurboVNC/bin/vncserver 2>&1 | grep "Desktop" | awk '{print $3}' | sed 's/.*://g')
    export DISPLAY=':'$D
    
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt
    cd $CURPATH
    if [ ! -d ./results ]; then
        mkdir results
    fi
    cd /git/sferes2/
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$_$1

    ARCHIVE_NR=$1

    mkdir $CURPATH/results/$PATHNAME
    #cp exp/HTE/python/analysis_hexa_omni.py $CURPATH/results/$PATHNAME
    #build/exp/HTE/high_dim_graphic -d $CURPATH/results/$PATHNAME

    for i in 0 1 2 3 4 5 6
    do
        echo $i
        mkdir $CURPATH/results/$PATHNAME/$i
        build/exp/HTE/high_dim_graphic -d $CURPATH/results/$PATHNAME/$i -r $ARCHIVE_NR -l $i 2>/dev/null
    done

%apprun hbr_simu

    export HOME=/tmp/home
    mkdir $HOME
    D=$(/opt/TurboVNC/bin/vncserver 2>&1 | grep "Desktop" | awk '{print $3}' | sed 's/.*://g')
    export DISPLAY=':'$D
    
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt
    cd $CURPATH
    if [ ! -d ./results ]; then
        mkdir results
    fi
    cd /git/sferes2/
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$_$1

    ARCHIVE_NR=$1

    mkdir $CURPATH/results/$PATHNAME
    #cp exp/HTE/python/analysis_hexa_omni.py $CURPATH/results/$PATHNAME
    #build/exp/HTE/hte -d $CURPATH/results/$PATHNAME "$@"

    for i in 0 1 2 3 4 5 6
    do
        echo $i
        mkdir $CURPATH/results/$PATHNAME/$i
        build/exp/HTE/hte -d $CURPATH/results/$PATHNAME/$i -l $i -r $ARCHIVE_NR 2>/dev/null
    done


%apprun aprol

    export HOME=/tmp/home
    mkdir $HOME
    D=$(/opt/TurboVNC/bin/vncserver 2>&1 | grep "Desktop" | awk '{print $3}' | sed 's/.*://g')
    export DISPLAY=':'$D
    
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt
    cd $CURPATH
    if [ ! -d ./results ]; then
        mkdir results
    fi
    cd /git/sferes2/
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$_$1
    
    ARCHIVE_NR=$1
    mkdir $CURPATH/results/$PATHNAME
    #cp exp/HTE/python/analysis_hexa_omni.py $CURPATH/results/$PATHNAME
    #build/exp/HTE/aprol_graphic -d $CURPATH/results/$PATHNAME

    for i in 0 1 2 3 4 5 6
    do
        echo $i
        mkdir $CURPATH/results/$PATHNAME/$i
        build/exp/HTE/aprol_graphic -d $CURPATH/results/$PATHNAME/$i -r $ARCHIVE_NR -l $i 2>/dev/null
    done
    
%apprun acceleration_gp_legs

    export HOME=/tmp/home
    mkdir $HOME
    D=$(/opt/TurboVNC/bin/vncserver 2>&1 | grep "Desktop" | awk '{print $3}' | sed 's/.*://g')
    export DISPLAY=':'$D
    
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt
    cd $CURPATH
    if [ ! -d ./results ]; then
        mkdir results
    fi
    cd /git/sferes2/
    # running the experiment (the -d option allows to define the directory where the results should be stored
    PATHNAME=$(date +%Y-%m-%d_%H_%M_%S)_$$
    mkdir $CURPATH/results/$PATHNAME
    #cp exp/HTE/python/analysis_hexa_omni.py $CURPATH/results/$PATHNAME
    build/exp/HTE/acceleration_gp_legs -d $CURPATH/results/$PATHNAME

    module load anaconda3/personal
    cd $CURPATH/results/$PATHNAME
    #python analysis_hexa_omni.py
    
%apprun gen_job_scripts
    echo "Generating job scripts"
    python3 /git/sferes2/exp/HTE/submodules/gitlab_notebook/gen_job_script.py "$@"


%apprun analysis
    python3 /git/sferes2/exp/HTE/python/analysis.py "$@"
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt

    python3  ./submodules/gitlab_notebook/gen_report.py $CURPATH

%apprun analysis_damage
    python3 /git/sferes2/exp/HTE/python/analysis_damage.py "$@"
    CURPATH=$(pwd)
    cd /git/sferes2/exp/HTE/
    git log --decorate --oneline --graph master -n 30 > $CURPATH/git_log.txt

    python3  ./submodules/gitlab_notebook/gen_report.py $CURPATH

%help
    This is the development and running environment of the RTE_hexapod.

    Run executable image with no arugument and turn on a visualisation server window to see the hexapod in simulation navigating map_2.txt.
    
    The hexapod uses an behavioural repertoire (archive) generated through the MAP-Elites algorithm to obtain behaviorus to move in all directions.
    The second part of this algorihtm is when the robot using its learnt behaviours from the repertoire to autonmously navigate the map/environment.
    The second part of this algorihtm makes use of the A* path plannign algorithm which guides a Monte Carlo Tree Search (MCTS) to navigate to desired end position.