# Code for anonymous submission

For running our code we recommend using Docker.

To start the container, run:

`bash docker_run.sh`

To start an experiment launch a command inside the docker like:

`xvfb-run -a -s '-screen 0 1024x768x24 -ac +extension GLX +render -noreset' python3 rl/train.py use_wandb=False project_name=e3 agent=sac configs=rlbench_both task=rlbench_stack_wine agent.obs_keys=front_rgb\|wrist_rgb\|state env.action_mode=e3joint seed=1,2,3 experiment=test --multirun &`

The command above launches 3 seeds in parallel. You should set `seed=SEED` to a unique value and remove `--multirun` to run a single experiment.

Note that by default all log is redirected to the experiments folder in `out.log` and `err.log`, so no output will be logged in your console.

### Options

The possible action modes are: `env.action_mode=joint,ee,e3joint,e3angle`

You can change the E3J joint to the wrist one by setting:
`+env.e3j_joint=6`