Generate railroad and navigate using heightmap

.python-version

@@ -0,0 +1 @@
+3.11

Dockerfile

@@ -1,11 +1,25 @@
-# Uses GPU enabled torch
-# FROM public.ecr.aws/artefacts/go2:mujoco
-# Uses CPU only torch
-FROM public.ecr.aws/artefacts/go2:mujoco-cputorch
+FROM nvidia/cuda:12.8.1-base-ubuntu22.04
+
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /uvx /bin/
+
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
+ENV MUJOCO_GL=egl
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libgl1 libglfw3 libgles2 libegl1 libglib2.0-0 \
+    python3-pip python3-dev ffmpeg git curl cmake build-essential \
+    && rm -rf /var/lib/apt/lists/*
+
 WORKDIR /ws
+COPY pyproject.toml uv.lock .python-version ./
+# Use cpu-torch (for smaller image size)
+RUN uv lock --index pytorch=https://download.pytorch.org/whl/cpu
+# TODO: Should we move optional dependencies (like rerun-sdk) to extras to decrease the image size? 
+RUN uv sync
 
 COPY artefacts.yaml go2_wtw_demo.py utils.py ./
 COPY tests/ tests/
 COPY resources/ resources/
 
-CMD artefacts run $ARTEFACTS_JOB_NAME
+CMD uv run artefacts run $ARTEFACTS_JOB_NAME

README.md

@@ -1,61 +1,42 @@
 # Go2 MuJoCo Walk Demo (Artefacts)
 
-Unitree Go2 walking demo using MuJoCo and the Walk-These-Ways pretrained policy.
+Unitree Go2 walking demo using MuJoCo.
 The demo runs on ubuntu, but also MacOS natively without vms or containerization.
 
 A flat scene is added to the `unitree_mujoco` package (see copy stage) to provide a simple demo for the [Go2](https://www.unitree.com/go2) to move.
 
-With thanks to [Teddy Liao](https://github.com/Teddy-Liao) for the pretrained policy in the [walk-these-ways-go2](https://github.com/Teddy-Liao/walk-these-ways-go2) repository.
 
 ## Setup
 
 ### Prerequisites
 
-You will need cyclonedds installed if you do not have it already. We suggest to install outside of this project.
+This project uses `uv` for Python environment management. For installation instructions, see https://docs.astral.sh/uv/getting-started/installation/
+
+
+## Initialize the virtual environment
 ```bash
-cd ~
-git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
-cd cyclonedds && mkdir build install && cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=../install
-cmake --build . --target install
+uv sync
+source .venv/bin/activate
 ```
 
-### Project Setup
+## Run
 
+#### Run follow-on-rails demo with procedurally generated railroad:
 ```bash
-cd ~/go2-mujoco-artefacts
-# Create virtual environment
-python3 -m venv venv
-source venv/bin/activate
-
-# Clone required repos
-mkdir -p src
-git clone --depth=1 -b high-level-direct https://github.com/art-e-fact/unitree_mujoco.git src/unitree_mujoco
-git clone --depth=1 https://github.com/unitreerobotics/unitree_sdk2_python.git src/unitree_sdk2_python
-# Install the sdk
-cd src/unitree_sdk2_python
-export CYCLONEDDS_HOME=~/cyclonedds/install
-pip install -e .
-
-# Back to root of repository
-cd ../..
-# Download WTW policy checkpoints (3 files only, no full repo clone)
-bash scripts/fetch_wtw_checkpoints.sh
-
-# Install dependencies
-pip install -r requirements.txt
+python go2_rails_demo.py  --rerun --heightmap-nav --seed 123
 ```
-## Run (Linux)
+The robot should walk on the rails following the target object.
+
+_Note: run `python go2_rails_demo.py --help` for more options._
+
+#### Run the robot with WTW policy in a test environment:
 ```bash
-source venv/bin/activate # if not already
 python go2_wtw_demo.py
 ```
-## Run (MacOS)
-```bash
-source venv/bin/activate # if not already
-mjpython go2_wtw_demo.py
-```
-The robot will walk forward and turn left in a loop.
+
+_Note: run `python go2_wtw_demo.py --help` for more options._
+
+
 
 ### Run test with artefacts