# Environment Notes

This benchmark bundle was validated on a Linux GPU machine with:

- CoppeliaSim v4.1.0 available at `COPPELIASIM_ROOT`
- `xvfb` and `xauth` installed
- Qt xcb runtime libraries installed:
  - `libxrender1`
  - `libxkbcommon0`
  - `libxkbcommon-x11-0`
  - `libxcb-icccm4`
  - `libxcb-image0`
  - `libxcb-keysyms1`
  - `libxcb-randr0`
  - `libxcb-render-util0`
  - `libxcb-shape0`
  - `libxcb-shm0`
  - `libxcb-sync1`
  - `libxcb-xfixes0`
  - `libxcb-xinerama0`
  - `libxcb-xkb1`

The successful RLBench2 oven evaluation was run with:

```bash
xvfb-run -a -s "-screen 0 1400x900x24" python \
  online_evaluation_rlbench/evaluate_policy.py \
  --checkpoint models/3dfa_peract2/3dfa_peract2.pth \
  --task bimanual_take_tray_out_of_oven \
  --data_dir data/3dfa/peract2_test \
  --dataset Peract2_3dfront_3dwrist \
  --image_size 256,256 \
  --model_type denoise3d \
  --bimanual true \
  --prediction_len 1 \
  --backbone clip \
  --fps_subsampling_factor 4 \
  --embedding_dim 120 \
  --num_attn_heads 8 \
  --num_vis_instr_attn_layers 3 \
  --num_history 3 \
  --num_shared_attn_layers 4 \
  --relative_action false \
  --rotation_format quat_xyzw \
  --denoise_timesteps 5 \
  --denoise_model rectified_flow
```

The `take shoes out of box` validation path was run from the bundled
PointFlowMatch source on a Blackwell GPU machine after upgrading the RLBench
environment to Torch `2.11.0+cu128` / torchvision `0.26.0+cu128` /
torchaudio `2.11.0+cu128`. The bundled PointFlowMatch tree also contains two
local compatibility fixes required for this workspace:

- `pfp/envs/rlbench_env.py`
  - adapts PointFlowMatch to the local RLBench camera naming and observation API
  - broadens motion-planning failure recovery to handle simulator-side runtime failures
- `pfp/policy/fm_policy.py`
  - adds an inference-only fallback when legacy `composer` cannot import on modern Torch
  - loads checkpoints with `weights_only=False` for PyTorch 2.6+

The shoes evaluation command used here was:

```bash
scripts/run_pointflowmatch_take_shoes_out_of_box.sh 10 50
```

That wrapper expands to the equivalent raw command:

```bash
export PYTHONPATH=third_party/diffusion_policy:third_party/PointFlowMatch:${PYTHONPATH:-}
export COPPELIASIM_ROOT=/path/to/CoppeliaSim
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
xvfb-run -a -s "-screen 0 1400x900x24" python \
  third_party/PointFlowMatch/scripts/evaluate.py \
  log_wandb=False \
  env_runner.env_config.vis=False \
  env_runner.num_episodes=10 \
  env_runner.max_episode_length=200 \
  policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka \
  policy.num_k_infer=50
```

Result note for shoes:

- `reports/pointflowmatch_take_shoes_out_of_box_ep10_k50_gpu/summary.json`
  records a verified non-zero result before a later RLBench/PyRep crash in the
  same longer rollout.