DRAFT Openpi client

[cvolkcvolk]

Summary

Run server from OpenPi:

uv run scripts/serve_policy.py policy:checkpoint \
  --policy.config=pi05_droid \
  --policy.dir=gs://openpi-assets/checkpoints/pi05_droid

Use the client in policy runner:

python isaaclab_arena/evaluation/policy_runner.py   --policy_type isaaclab_arena.policy.pi0_droid_client.Pi0DroidClient   --enable_cameras   --num_episodes 10   --remote_host localhost   --remote_port 8000   droid_pick_and_place_srl   --embodiment droid_rel_joint_pos

Or the evaluation runner

python isaaclab_arena/evaluation/eval_runner.py   --eval_jobs_config isaaclab_arena_environments/eval_jobs_configs/droid_pnp_srl_openpi_jobs_config.json