sync recent changes

eval_robot/test.py

@@ -0,0 +1,40 @@
+"""'
+Refer to:   lerobot/lerobot/scripts/eval.py
+            lerobot/lerobot/scripts/econtrol_robot.py
+            lerobot/robot_devices/control_utils.py
+"""
+
+import time
+import numpy as np
+import cv2
+from multiprocessing.sharedctypes import SynchronizedArray
+from lerobot.configs import parser
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from eval_robot.make_robot import (
+    setup_image_client,
+    setup_robot_interface,
+    process_images_and_observations,
+)
+from eval_robot.utils.utils import cleanup_resources, EvalRealConfig
+
+from eval_robot.utils.rerun_visualizer import RerunLogger, visualization_data
+from eval_robot.utils.utils import to_list, to_scalar
+from eval_robot.robot_control.robot_arm_test import (
+    G1_29_ArmController, G1_29_JointIndex
+)
+import logging_mp
+from eval_robot.robot_control.robot_arm_ik import G1_29_ArmIK
+
+logging_mp.basic_config(level=logging_mp.INFO)
+logger_mp = logging_mp.get_logger(__name__)
+
+
+def replay_main():
+
+    #damp needs to be on? do i start the robot as well 
+
+    arm_ik = G1_29_ArmIK()
+    arm_ctrl = G1_29_ArmController(motion_mode=False, simulation_mode=False)#motors move here upon init. there's a bug where when closing python the motors die
+
+if __name__ == "__main__":
+    replay_main()