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