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teleop_net: leader na laptopie -> follower na Pi po UDP - #55
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Pi nie ma wolnego USB na leadera. Klient czyta leadera lerobot-em i wysyla cele stawow, serwer na Pi ogranicza krok, trzyma pozycje przy zerwanym laczu. Testy 8 (w tym klient-serwer po UDP na localhost), instrukcja w SETUP.md.
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Co
Pi nie ma wolnego USB na leadera (siedzi tam Xiao), wiec teleop idzie przez siec:
tools/teleop_net.py clientna laptopie czyta leadera SO-101 (lerobot SOLeader, normalizacja jak w lerobot-teleoperate) i wysyla cele stawow po UDP :5005;tools/teleop_net.py serverna Pi zadaje je followerowi.Bezpieczniki po stronie Pi: limit kroku 5 st/tick na staw (wlasny, bez
max_relative_target- HARDWARE pkt 10), brak pakietu > 0.5 s -> ramie trzyma pozycje, stare/zdublowane pakiety odrzucane, "bye" przy Ctrl+C klienta, torque zostaje po zamknieciu serwera,calibrate=False. Tryb--fake(bez leadera) przyjmowany tylko przez serwer--dry-run. Klient drukuje RTT co sekunde. Instrukcja:docs/SETUP.md"Teleop przez siec".Jak sprawdzone
Sprzet dotkniety: nie
Nie uruchomione z leaderem ani na Pi. Pierwszy raz:
server --dry-run+client --fake, potem na serio z wylacznikiem w rece.Checklist
python -m pytest tests -qzielone (308 passed)