| # Keep the TwoLeg agentic walk loop running non-stop. | |
| # Re-invokes training/scripts/walk_loop.py in a while-true; walk_loop.py resumes | |
| # from .audit/walk_loop_state.json each call and advances one strategy per round. | |
| # Stops only when the biped WALKS (loop exits 0) or a round hard-fails (exit 2). | |
| # GPU power cap 150W is set via nvidia-smi (done once, persists until reboot). | |
| set -u | |
| cd /home/kenpeter/work/twoleg/training | |
| LOG=/tmp/opencode/loop_forever.log | |
| echo "[loop_forever] start $(date -Is)" >> "$LOG" | |
| while true; do | |
| echo "[loop_forever] invoke $(date -Is)" >> "$LOG" | |
| uv run --no-sync python scripts/walk_loop.py --rounds 1 >> "$LOG" 2>&1 | |
| rc=$? | |
| echo "[loop_forever] walk_loop exited rc=$rc $(date -Is)" >> "$LOG" | |
| if [ "$rc" -eq 0 ]; then | |
| echo "[loop_forever] WALKS -> stopping loop" >> "$LOG" | |
| break | |
| fi | |
| if [ "$rc" -eq 2 ]; then | |
| echo "[loop_forever] hard fail -> sleep 60s then retry" >> "$LOG" | |
| sleep 60 | |
| continue | |
| fi | |
| # rc==1: strategies exhausted or round budget spent -> state saved, re-invoke | |
| sleep 5 | |
| done | |
| echo "[loop_forever] end $(date -Is)" >> "$LOG" | |