policy_client: stationary examples (openpi + lerobot)#255
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Replace the non-ASCII theta symbol and en-dash range separators with ASCII in the stationary example docs, matching the rest of the stack (Copilot portability comment).
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Replace the non-ASCII theta symbol and en-dash range separators with ASCII in the stationary example docs, matching the rest of the stack (Copilot portability comment).
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Replace the non-ASCII theta symbol and en-dash range separators with ASCII in the stationary example docs, matching the rest of the stack (Copilot portability comment).
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Replace the non-ASCII theta symbol and en-dash range separators with ASCII in the stationary example docs, matching the rest of the stack (Copilot portability comment).
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Two runnable bimanual examples sharing the same 2-follower + 4-camera setup: trossen_stationary_ai_policy (openpi WebSocket, transport openpi_ws) and trossen_stationary_ai_lerobot (LeRobot async_inference, transport lerobot_grpc), with configs, READMEs, and integration notes.
…rate - The first-chunk wait ignored g_stop_requested (arms energized, unresponsive to Ctrl+C for up to 30s) and then started mirroring unconditionally even when no chunk arrived, driving followers off the staged pose via hold-last zeros - the exact jerk the wait was meant to prevent. Honor the stop flag in the wait and only mirror once a real chunk lands; otherwise log and hold the staged pose (PR255-F3). - Delete the dead 3500ms pre-loop sleep and its false comment; staging is a blocking on_pre_episode/stage() move during start_episode (PR255-F2). - Fix the openpi README defaults to match the shipped config (60s / 1 episode / 0.6Hz) (PR255-F1). - Mark the /tmp analysis scripts in the integration notes as ad-hoc and not shipped (PR255-F5).
Replace the non-ASCII theta symbol and en-dash range separators with ASCII in the stationary example docs, matching the rest of the stack (Copilot portability comment).
… readiness Build one shared source into trossen_stationary_ai_openpi and trossen_stationary_ai_lerobot, each defaulting to its own transport config under configs/. Discard and stop the run when no policy client produces an action chunk within the readiness timeout, so a non-responsive policy never records an episode of the followers held at the staged pose. Exit after mgr.shutdown() completes SDK-owned teardown.
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Summary
Two runnable bimanual examples that exercise the whole stack end-to-end against a live policy server — one per transport family — sharing the same 2-follower + 4-camera setup.
Changes
examples/trossen_stationary_ai_policy/{trossen_stationary_ai_policy.cpp,config.json,README.md,POLICY_INTEGRATION_NOTES.md}: openpi example (transportopenpi_ws, WebSocket) — config, runnable app, and integration notes (server setup, tuning knobs, drain-threshold guidance).examples/trossen_stationary_ai_lerobot/{trossen_stationary_ai_lerobot.cpp,config.json,README.md}: the LeRobot sibling (transportlerobot_grpc,async_inference) — same bimanual setup driven by a LeRobot server, with api05-ready config.examples/CMakeLists.txt: build both example binaries behindTROSSEN_SDK_ENABLE_POLICY_CLIENT.slew_time_s(matching control: per-episode hardware lifecycle driven by SessionManager #248's arm-config rename).Test Plan
-DTROSSEN_SDK_ENABLE_POLICY_CLIENT=ONpre-commit run --all-files)working pi05 config for the live integration)Breaking Changes
None. New examples, gated behind
TROSSEN_SDK_ENABLE_POLICY_CLIENT(default OFF).Related
Based on #248 (example configs depend on its
slew_time_sarm key). Top of the stack over #249–#254.