add ARS to train/eval Minitaur

examples/pybullet/gym/pybullet_envs/ARS/ars_server.py

@@ -0,0 +1,62 @@
+"""
+blaze build -c opt //experimental/users/jietan/ARS:ars_server
+
+blaze-bin/experimental/users/jietan/ARS/ars_server \
+--config_name=MINITAUR_GYM_CONFIG
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import time
+from absl import app
+from absl import flags
+from concurrent import futures
+import grpc
+from grpc import loas2
+from google3.robotics.reinforcement_learning.minitaur.envs import minitaur_gym_env
+from google3.robotics.reinforcement_learning.minitaur.envs import minitaur_reactive_env
+from google3.robotics.reinforcement_learning.minitaur.envs.env_randomizers import minitaur_env_randomizer
+from google3.robotics.reinforcement_learning.minitaur.envs.env_randomizers import minitaur_env_randomizer_from_config as randomizer_config_lib
+from google3.experimental.users.jietan.ARS import ars_evaluation_service_pb2_grpc
+from google3.experimental.users.jietan.ARS import ars_evaluation_service
+
+FLAGS = flags.FLAGS
+flags.DEFINE_integer("server_id", 0, "number of servers")
+flags.DEFINE_integer("port", 20000, "port number.")
+flags.DEFINE_string("config_name", None, "The name of the config dictionary.")
+flags.DEFINE_bool('run_on_borg', False,
+                  'Whether the servers are running on borg.')
+
+_ONE_DAY_IN_SECONDS = 60 * 60 * 24
+
+
+def main(unused_argv):
+  servers = []
+  server_creds = loas2.loas2_server_credentials()
+  port = FLAGS.port
+  if not FLAGS.run_on_borg:
+    port = 20000 + FLAGS.server_id
+  server = grpc.server(
+      futures.ThreadPoolExecutor(max_workers=10), ports=(port,))
+  servicer = ars_evaluation_service.ParameterEvaluationServicer(
+      FLAGS.config_name, worker_id=FLAGS.server_id)
+  ars_evaluation_service_pb2_grpc.add_EvaluationServicer_to_server(
+      servicer, server)
+  server.add_secure_port("[::]:{}".format(port), server_creds)
+  servers.append(server)
+  server.start()
+  print("Start server {}".format(FLAGS.server_id))
+
+  # prevent the main thread from exiting
+  try:
+    while True:
+      time.sleep(_ONE_DAY_IN_SECONDS)
+  except KeyboardInterrupt:
+    for server in servers:
+      server.stop(0)
+
+
+if __name__ == "__main__":
+  app.run(main)