openpi/examples/aloha_sim

Run Aloha Sim

With Docker

export SERVER_ARGS="--env ALOHA_SIM"
docker compose -f examples/aloha_sim/compose.yml up --build

Without Docker

Terminal window 1:

# 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:

sudo apt-get install -y libegl1-mesa-dev libgles2-mesa-dev

Terminal window 2:

# Run the server
uv run scripts/serve_policy.py --env ALOHA_SIM