The ramps and events
All team members must
Simple setups on local hosts should run fine with the default.conf
.
However, if there are any issues with singularity
the create a user.conf
with correct attributes.
default.conf
reads as:
[ENV]
exec:singularity # the path to singularity binary
path:julia-cont # the path to the singularity container
python:pyenv # the name of the conda environment
julia_depot:.julia # the relative path to set JULIA_DEPOT_PATH
mounts:
There are additional sections in default.conf
which are using for
project organization (PATHS
).
[PATHS]
databases:output/databases
traces:output/traces
renders:output/renders
Note: The content in the config changes from time to time. If you run into issues after pulling, compare your
user.conf
todefault.conf
to see if any of the keys have changed.
Simply run setup.sh
in the root of this repo as follows
chmod +x setup.sh
./env.d/setup.sh cont_build python julia
You will be prompted for sudo when building the container. If you are not able to gain sudo privilege, you can use
chmod +x setup.sh
./env.d/setup.sh cont_build_nosudo python julia
setup.sh
will then create the container at the path specified in the config (julia-cont
by default).
NOTE: Like many commands in this setup, variables will be bound to those specified in
user.conf
if present ordefault.conf
In the near future (yell at me if I forget), this script will, by default, attempt to download the container from a hosting service (probably dropbox). In that way, the user will not require sudo (and the container's behavior will be more consistent).
After running setup.sh
, you can now use run.sh
to use the environment.
The synatx of run.sh
is simply:
./env.d/run.sh <command>
Where command
can be any arbitrary bash expression.
For example, you can probe the python version in the conda environment using:
>: ./env.d/run.sh python3 --version
No user config found, using default
INFO for ENV
path => julia-cont
mounts =>
exec => singularity
julia_depot => .julia
python => pyenv
Python 3.6.8 :: Anaconda, Inc.
As you can see ./env.d/run.sh
first
Getting into the julia
repl is simply
>: ./env.d/run.sh julia
No user config found, using default
INFO for ENV
path => julia-cont
mounts =>
exec => singularity
julia_depot => .julia
python => pyenv
_
_ _ _(_)_ | Documentation: https://docs.julialang.org
(_) | (_) (_) |
_ _ _| |_ __ _ | Type "?" for help, "]?" for Pkg help.
| | | | | | |/ _` | |
| | |_| | | | (_| | | Version 1.1.0 (2019-01-21)
_/ |\__'_|_|_|\__'_| | Official https://julialang.org/ release
|__/ |
julia>
Make sure that JULIA_DEPOT_PATH
is set to that in the config (this should be taken care of by run.sh
):
julia> DEPOT_PATH
1-element Array{String,1}:
".julia"
julia>
Both setup.sh
and run.sh
use the included package info to setup Julia dependencies. Adding packages can be done normally using Base.pkg
.
Note: Some Julia packages (usually stale ones) will attempt to install system level dependencies. This will NOT work in a singularity container as it is immutable. You will have to edit the definition file (
Singularity
) to include this manually.
The main method of executing elements within this package are via scripts found in the (queue drum roll) scripts
directory. If the script has a proper shebang and is executable, congrats, you just need to run:
./env.d/run.sh scripts/my_script.
ie
[galileo-ramp]$ ./env.d/run.sh scripts/ramp_profile.py --help
No user config found, using default
pybullet build time: May 15 2019 00:10:22
usage: ramp_profile.py [-h] [--table TABLE TABLE] [--table_steps TABLE_STEPS]
[--ramp RAMP RAMP] [--ramp_steps RAMP_STEPS]
[--ramp_angle RAMP_ANGLE] [--radius RADIUS]
[--friction FRICTION] [--n_ramp N_RAMP] [--slurm]
[--batch BATCH] [--debug] [--fresh]
mass_file
Evaluates the energy of mass ratios
positional arguments:
mass_file CSV file containing mass ratios
optional arguments:
-h, --help show this help message and exit
--table TABLE TABLE XY dimensions of table. (default: (35, 18))
--table_steps TABLE_STEPS
Number of positions along X-axis. (default: 4)
--ramp RAMP RAMP XY dimensions of ramp. (default: (35, 18))
--ramp_steps RAMP_STEPS
Number of positions along X-axis. (default: 4)
--ramp_angle RAMP_ANGLE
ramp angle in degrees (default: 0.5235987755982988)
--radius RADIUS Ball radius. (default: 1.5)
--friction FRICTION Ball friction (default: 0.4)
--n_ramp N_RAMP Number of balls on ramp (default: 1)
--slurm Use dask distributed on SLURM. (default: False)
--batch BATCH Number of towers to search concurrently. (default: 1)
--debug Run in debug (no rejection). (default: False)
--fresh Ignore previous profiles (default: False)
The experiment is formatted in the form of a pip-compliant package under galileo_ramp
.
The package is formatted as follows:
# describes the GM
/world
# any nn components
/models
# utilities that do not reasonably belong in previous sections
/utils
Each of this sections will have their own documentation.
Note: Please maintain hygene between scripts and modules. Any standalone executable should be within scripts. Any piece of code that is imported across several scripts should be incorporated within the project package.