eval trained public_mobile_aloha_datasets model and meet error

[FanZhang91]

I do not have X-Series Robot Arm Hardware Device but installed interbotix software packages. Then evaluate the trained model using public mobile aloha datasets。 I meet this problem, just like this:

######################################## info #############################################
Use VQ: False, None, None
number of parameters: 106.26M
KL Weight 10

Loaded: ./ckpt/policy_last.ckpt
Backend TkAgg is interactive backend. Turning interactive mode on.
timeout exceeded while waiting for service /puppet_left/set_operating_modes
The robot 'puppet_left' is not discoverable. Did you enter the correct robot_name parameter? Is the xs_sdk node running? Quitting...
######################################## info #############################################

It's possible to evaluate trained model without corresponding hardware device?