| #!/usr/bin/env python3 | |
| from __future__ import annotations | |
| import argparse | |
| from common import eval_policy, load_config, maybe_reexec_with_mjpython | |
| def main() -> None: | |
| parser = argparse.ArgumentParser(description="Run closed-loop MuJoCo evaluation with the configured ACT checkpoint.") | |
| parser.add_argument("--config", default=None) | |
| args = parser.parse_args() | |
| cfg = load_config(args.config) | |
| maybe_reexec_with_mjpython(cfg.eval.show_viewer, "MUJOCO_LEROBOT_EVAL_REEXEC") | |
| eval_policy(cfg) | |
| if __name__ == "__main__": | |
| main() | |