ISSUES (post on the ISSUEs tab in the repo):
- need to run an xarm.step that takes input from the desktop and
communicates it to the NUC
- need to make spacemouse connect to desktop and run from there instead of from NUC
- replay.py is missing (prev. version does not work) for the seperated code
- need to have overlay and same features as joint replay
- simulation
- (Edward) work on simulation; everything should be relatively agnostic of whether you run sim or real, i.e., should use the same class / inherit from base class. Design decision here.
- consider or support alternatives to
zarrfiles -> design discussion - boil down all functionality to simple primitives:
.get_state(return pose + images),.get_obs,.step, etc; all scripts are very messy right now - better recordings, easy interopability with other codebases/policy implementations
- better code; best practices, CLI, logging and debugging; documentation
- test installation