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examples/aloha_sim/README.md

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+# Run Aloha Sim
+
+## With Docker
+
+```bash
+export SERVER_ARGS="--env ALOHA_SIM"
+docker compose -f examples/aloha_sim/compose.yml up --build
+```
+
+## Without Docker
+
+Terminal window 1:
+
+```bash
+# Create virtual environment
+uv venv --python 3.10 examples/aloha_sim/.venv
+source examples/aloha_sim/.venv/bin/activate
+uv pip sync examples/aloha_sim/requirements.txt
+uv pip install -e packages/openpi-client
+
+# Run the simulation
+MUJOCO_GL=egl python examples/aloha_sim/main.py
+```
+
+Note: If you are seeing EGL errors, you may need to install the following dependencies:
+
+```bash
+sudo apt-get install -y libegl1-mesa-dev libgles2-mesa-dev
+```
+
+Terminal window 2:
+
+```bash
+# Run the server
+uv run scripts/serve_policy.py --env ALOHA_SIM
+```