add robot models xml etc

remove isaaclab, add test scripts

added simulator to the hub

remove mujoco env

test_zmq_camera_demo.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+"""
+Single-script ZMQ camera demo - runs server and client in one process
+Demonstrates ZMQ camera functionality for PR reviewers
+"""
+
+import time
+from threading import Thread
+import cv2
+import numpy as np
+import zmq
+import matplotlib.pyplot as plt
+from matplotlib.animation import FuncAnimation
+
+from threading import Event
+
+from lerobot.cameras.zmq import ZMQCamera, ZMQCameraConfig
+from lerobot.cameras.configs import ColorMode
+
+
+def create_test_pattern(width=640, height=480, frame_num=0):
+    """Generate simple vertical color bars"""
+    img = np.zeros((height, width, 3), dtype=np.uint8)
+    
+    # Classic SMPTE color bars
+    colors = [
+        (255, 255, 255),  # White
+        (0, 255, 255),    # Yellow
+        (0, 255, 255),    # Cyan
+        (0, 255, 0),      # Green
+        (255, 0, 255),    # Magenta
+        (0, 0, 255),      # Red
+        (255, 0, 0),      # Blue
+    ]
+    
+    bar_width = width // len(colors)
+    for i, color in enumerate(colors):
+        x_start = i * bar_width
+        x_end = (i + 1) * bar_width if i < len(colors) - 1 else width
+        img[:, x_start:x_end] = color
+    
+    return img
+
+
+def run_server(port=5550, stop_event=None):
+    """Background thread: publishes test pattern frames via ZMQ"""
+    context = zmq.Context()
+    socket = context.socket(zmq.PUB)
+    socket.bind(f"tcp://*:{port}")
+    time.sleep(0.5)
+    
+    frame_num = 0
+    while stop_event is None or not stop_event.is_set():
+        frame = create_test_pattern(frame_num=frame_num)
+        _, buffer = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 85])
+        socket.send(buffer.tobytes())
+        frame_num += 1
+        time.sleep(1.0 / 30)  # 30 FPS
+    
+    socket.close()
+    context.term()
+
+port = 5550
+
+#SERVER
+
+stop_event = Event()
+server_thread = Thread(target=run_server, args=(port, stop_event), daemon=True)
+server_thread.start()
+time.sleep(1)  # Let server initialize
+
+#CLIENT
+
+config = ZMQCameraConfig(
+    server_address="localhost",
+    port=port,
+    color_mode=ColorMode.RGB,
+    timeout_ms=5000
+)
+camera = ZMQCamera(config)
+camera.connect()
+
+# Setup matplotlib viewer
+fig, ax = plt.subplots(figsize=(10, 7))
+ax.set_title('ZMQ Camera Demo - Server & Client in one script', fontweight='bold')
+ax.axis('off')
+
+frame = camera.read()
+im = ax.imshow(frame)
+text = ax.text(0.02, 0.98, '', transform=ax.transAxes, fontsize=10, va='top',
+                bbox=dict(boxstyle='round', facecolor='black', alpha=0.7),
+                color='lime', fontweight='bold', family='monospace')
+fig.tight_layout()
+
+frame_count = [0]
+fps_times = []
+
+def update(frame_num):
+    loop_start = time.time()
+    frame = camera.read()
+    frame_count[0] += 1
+    
+    im.set_data(frame)
+    
+    fps_times.append(time.time() - loop_start)
+    if len(fps_times) > 30:
+        fps_times.pop(0)
+    fps = len(fps_times) / sum(fps_times) if fps_times else 0
+    
+    text.set_text(f'Frame: {frame_count[0]}\nFPS: {fps:.1f}')
+    return [im, text]
+
+try:
+    anim = FuncAnimation(fig, update, interval=33, blit=True, cache_frame_data=False)
+    plt.show()
+except KeyboardInterrupt:
+    pass
+finally:
+    camera.disconnect()
+    stop_event.set()
+    plt.close('all')