Repository navigation
feat: add TRON2 training and runtime inference support - #21
Merged
Merged
Conversation
…er branch env.disconnect() gated robot.disconnect() on robot.is_connected, which turns False as soon as a camera or gripper is unhealthy. A mid-run TacCap/gripper failure therefore skipped the reset-to-start and left the 300 Hz native controller running. Tron2RT.disconnect() is already a no-op when nothing is connected, so call it unconditionally. The default recipe sets taccap_remote_url / taccap_remote_auto_enable, which only exist in lerobot-tron2's feat/taccap_web branch; say so in the recipe and the entry-point docstring. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
概述
为 TRON2 双臂机器人补齐从 LeRobot 数据集训练到 OpenPI 实时推理的示例，包含当前
feat/tron2分支相对main的 4 个提交。主要改动
LeRobotTron2DataConfig：适配双臂 TCP 与夹爪的 20 维状态和动作，将top相机映射为策略的head视角，并支持笛卡尔动作的delta 编码。
Review 修正（e2073bf）
Tron2Env.disconnect()原先只在robot.is_connected为真时才调用robot.disconnect()。但相机或夹爪任一异常时该聚合状态即为 False，导致运行中 TacCap/夹爪掉线后跳过复位、300 Hz 原生控制器不停止、SDK 和相机不释放。现改为无条件调用（驱动在无连接时本身就是 no-op）。recipes/default.yaml使用的taccap_remote_url/taccap_remote_auto_enable仅存在于XenseRobotics-AI/lerobot-tron2的feat/taccap_web分支，main 分支的Tron2RTConfig没有这两个字段（draccus 会直接报错）。已在 recipe 和main.py文档中注明依赖该分支。已验证：ruff 通过；
tron2_config_test.py2 passed；default recipe 可在feat/taccap_web驱动上正常解析为Tron2RTConfig。🤖 Generated with Claude Code