sync recent changes

additional_functions/test.py

@@ -0,0 +1,36 @@
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1, G1_29_JointIndex
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+import time
+config = UnitreeG1Config(
+    motion_mode=False,
+    simulation_mode=False
+)
+
+robot = UnitreeG1(config)
+#print(robot.get_observation())
+#robot.calibrate()
+#print(robot.get_observation())
+while True:
+   observation = robot.get_observation()
+   robot.send_action(observation)
+   #print(robot.get_observation())
+   time.sleep(0.01)
+# print(observation)
+# time.sleep(0.1)
+
+# dataset = LeRobotDataset(repo_id='nepyope/unitree_box_push_30fps_actions_fix', root="", episodes=[0])
+
+# actions = dataset.hf_dataset.select_columns("action")
+# print(actions)
+# episode_idx = 0
+# episode_info = dataset.meta.episodes[episode_idx]
+
+# from_idx = episode_info["dataset_from_index"]
+# to_idx = episode_info["dataset_to_index"]
+
+
+# for idx in range(from_idx, to_idx):
+#             robot.send_action(actions[idx]["action"].numpy()[:14])
+#             time.sleep(1.0 / 30)