python testrl.py --arg_file run_humanoid3d_backflip_args.txt
python testrl.py --arg_file run_humanoid3d_spinkick_args_semi_trained.txt
python testrl.py --arg_file run_humanoid_run_semi_trained.txt
python testrl.py --arg_file run_humanoid_grasp_semi_trained.txt


scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/spinkick_partial_run
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/output/grasp_partial_run
scp -r acro@10.11.98.170:Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic/output C:/UntrackedGit/bulletFork/bullet3/examples/pybullet/gym/pybullet_data/data/policies/humanoid3d
cd Git/bullet3/examples/pybullet/gym/pybullet_envs/deep_mimic
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_kick_goals_args.txt --num_workers 16
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_spinkick_args.txt --num_workers 16
mpiexec -n 16 python3 DeepMimic_Optimizer.py --arg_file train_humanoid3d_walk_args.txt --num_workers 16
mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid3d_run_args.txt --num_workers 16
mpiexec -n 16 python DeepMimic_Optimizer.py --arg_file train_humanoid_grasp_args.txt --num_workers 16

// "python3" may have to be "python" instead in previous commands!

// To install pybullet from a local package editably:
pip install --editable .

// Remote server setup:
    // setup virtual environment:
    virtualenv env
    pip install gym
    pip install tensorflow==1.14.0

    // build and install pybullet locally:
    // In bullet3 root folder:
    ./build_cmake_pybullet_double.sh
    pip install --editable .

    // Install openMPI:
    https://www.open-mpi.org/
    sudo apt install libopenmpi-dev
    pip install mpi4py


// To run training after closing terminal:
https://linuxize.com/post/how-to-use-linux-screen/
sudo apt install screen
screen -r
ssh acro@10.11.98.170

// enable virtualenv:
source /home/acro/Git/bullet3/env/bin/activate