配置diffusion policy并测试和训练 pushT demo模型

1.在github下载diffusion policy
https://github.com/real-stanford/diffusion_policyhttps://github.com/real-stanford/diffusion_policy

unzip diffusion_policy-main.zip cd diffusion_policy-main/

2.安装依赖

sudo apt install -y libosmesa6-dev libgl1-mesa-glx libglfw3 patchelf

3.创建虚拟环境

conda env create -f conda_environment.yaml

4.安装wandb 和huggingface_hub

pip install wandbpip install hug