commands

sudo docker build -t ollama-battertarware-gui:v1 .


sudo docker build --no-cache -t ollama-battertarware-gui:v1 .


sudo docker run --gpus all  -it -v /home/cpslab/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE ollama-battertarware:v1


If stopped, sudo docker ps -a should show the container, and you can restart it with:
 sudo docker start -ai infallible_maxwell


Another terminal:
sudo docker exec -it infallible_maxwell bash

python3 -m pip install --break-system-packages -e .

python3 scripts/run_heuristic.py

-- running the PPO


python3 scripts/train_ppo.py



pip uninstall pyglet -y
pip install --break-system-packages pyglet==1.5.27



----------------- ---
ollama serve
this in one tab

And 
ollama pull llama3.2:3b

--for rag
ollama pull nomic-embed-text 


ollama run llama3.2:3b
In another to run the llm.


python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1


python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 1 --seed 0 --model llama3.2:3b


Rendering
apt update
apt install -y libgl1 libglu1-mesa libglut3.12


xhost +local:docker
sudo docker run --name tarware-gui --gpus all -it \
  -e DISPLAY=:1 \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v /home/cpslab/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE \
  ollama-battertarware:v1



Later to start


  sudo docker exec -it tarware-gui bash 

  python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 1 --seed 0 --model llama3.2:3b --render --log_text_chars 0 --max_steps_per_episode 500 > log5.txt 


    Install xauth





 

   sudo docker run --name tarware --gpus all -it   -e DISPLAY=$DISPLAY           \
        -e XAUTHORITY=$XAUTH          \
        -v $XSOCK:$XSOCK:rw           \
        -v $XAUTH:$XAUTH:rw           \
        -v /tmp/.X11-unix:/tmp/.X11-unix \
        -v /home/cpslab/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE \ollama-battertarware:v1


   Basic display test:

   rjmro@RS-ThinkPad MINGW64 ~/Desktop
$ echo $DISPLAY
needs-to-be-defined

rjmro@RS-ThinkPad MINGW64 ~/Desktop
$ export DISPLAY=:0.0


cpslab@cpslab-Tower-G9:~$ echo $DISPLAY
localhost:11.0
cpslab@cpslab-Tower-G9:~$ xeyes



Eyes showing in vcxsrv and it shows one client connected, when I try to close.




The docker, should have network capability --network=host for this to work

export XSOCK=/tmp/.X11-unix
export XAUTH=~/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
sudo docker run --network=host --name tarware-remote-gui --gpus all -it  \
-e DISPLAY=$DISPLAY \
-e XAUTHORITY=$XAUTH \
-v $XSOCK:$XSOCK:rw \
-v $XAUTH:$XAUTH:rw \
-v /home/cpslab/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE ollama-battertarware-gui:v1
   xauth \
apt-get update 
apt install x11-apps
python3 -m pip install --break-system-packages -e .
python3 -m pip install --break-system-packages -e ".[llm]"

For langchain..



sudo docker start -ai tarware-remote-gui
sudo docker exec -it tarware-remote-gui bash

ollama pull llama3.2:3b
ollama run llama3.2:3b
python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 1 --seed 0 --model llama3.2:3b --render --log_text_chars 0 --max_steps_per_episode 500


inside The docker it is coming now as 
echo $DISPLAY
localhost:10.0

In git bash, after ssh
 echo $DISPLAY
localhost:10.0


rjmro@RS-ThinkPad MINGW64 ~/Desktop
$ echo $DISPLAY
localhost:0.0



sudo -E docker run --network=host \
  --name tarware-remote-gui \
  --gpus all \
  -it \
  -e DISPLAY=$DISPLAY \
  -v /home/cpslab/.Xauthority:/root/.Xauthority:ro \
  -v /home/cpslab/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE \
  ollama-battertarware-gui-t1:v1

sudo -E docker run --network=host \
  --name tarware-remote-gui-t1 \
  --gpus all \
  -it \
  -e DISPLAY=$DISPLAY \
  -v /home/user-rjm/.Xauthority:/root/.Xauthority:ro \
  -v /home/user-rjm/Work/Thesis/rjm/polyphony/Battery-TA-RWARE:/docker-mount/Battery-TA-RWARE \
  ollama-battertarware-gui:v1

Fixed prompt
python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 1 --seed 0 --model llama3.2:3b --render --log_text_chars 0 --max_steps_per_episode 500 --experiment_mode fixed_prompt_action

Agent type prompt
python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 1 --seed 0 --model llama3.2:3b --render --log_text_chars 0 --max_steps_per_episode 500 --experiment_mode agent_type_prompt --config_path scripts/experiment_config.example.json

python3 scripts/run_llm.py \
  --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 \
  --num_episodes 1 --seed 0 --model llama3.2:3b \
  --render --log_text_chars 0 --max_steps_per_episode 500 \
  --experiment_mode message_or_action \
  --config_path scripts/experiment_config.example.json



  python3 scripts/run_llm.py --env_id tarware-tiny-1agvs-1pickers-partialobs-chg-v1 --num_episodes 2 --seed 0 --model llama3.2:3b --llm_backend langchain --experiment_mode message_or_action --config_path scripts/experiment_config.example.json --max_steps_per_episode 250 --enable_episode_reflection --reflection_notes_dir knowledge/reflections --transcript_dir transcripts --rag_docs_dir knowledge --rag_db_dir rag_db --log_text_chars 0 --render

----------
Clear rag
  rm -f knowledge/reflections/*.md
rm -rf rag_db
rm -f transcripts/*
python3 scripts/build_rag_index.py \
  --docs_dir knowledge \
  --db_dir rag_db \
  --ollama_base_url http://localhost:11434


python3 scripts/run_centralized_llm_experiments.py --prompt_format language

python3 scripts/run_centralized_llm_experiments.py \
  --prompt_format json \
  --results_dir results/shelf/central_llm_experiments/JSON \
  --session_dir results/shelf/central_llm_experiments/JSON/session_20260319_XXXXXX \
  --max_steps 1000 \
  --seed 0


  python3 scripts/run_obj2_shared_context_llm.py   --prompt_format language   --max_steps 0   --max_busy_steps_for_replan 10   --max_inactivity_steps 500   --disable_support_needed_soon   --find_path_agent_aware_always   --seed 0   --results_dir results/calls/shared_context/natural   --session_dir results/calls/shared_context/natural/session_20260329_094333   --resume_from_model "gemma3:12b"   --resume_from_scenario "medium_agv_heavy_6v2"


python3 scripts/run_obj2_shared_context_llm.py \
  --prompt_format json \
  --max_steps 0 \
  --max_busy_steps_for_replan 10 \
  --max_inactivity_steps 500 \
  --disable_support_needed_soon \
  --find_path_agent_aware_always \
  --seed 0 \
  --results_dir results/calls/shared_context/json

  python3 scripts/run_obj2_shared_context_llm.py \
  --prompt_format json \
  --max_steps 0 \
  --max_busy_steps_for_replan 10 \
  --max_inactivity_steps 500 \
  --disable_support_needed_soon \
  --find_path_agent_aware_always \
  --seed 0 \
  --results_dir results/calls/shared_context/json