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Panel: przycisk Zbierz szyszke (chwyt ACT + wrzut do sloika) - #57
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- motions/sloik.json: wrzut do sloika ze sciezki nagranej reka (tools/live_grasp/data/jar_cycle.json, JAR_UP/JAR_BACK z pick.py), podstawa w zakresie +-23 st, koniec w HOME z motions/home.json. - act_pick.py: etap 2 domyslnie "sloik" zamiast placeholdera drop_box. - robot_panel: zadanie "pick" (act_pick.py z wagami 007000). Na czas zadania panel zatrzymuje ramie i kamere, po koncu wznawia je sam; odmawia, gdy ktoras chodzi poza panelem. STOP (spacja) przerywa tez zbieranie. Zadanie w osobnej grupie procesow: STOP zabija tez lerobot-rollout, nie tylko act_pick. - arm panel: ruchy z "panel": false (grasp_mid pod stary HOME, drop_box = placeholder) schowane z przyciskow i nie do odtworzenia z panelu; brain.py i arm_play dalej je widza. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
…JAR_BACK i HOME Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Co
Jeden przycisk w panelu zbiorczym (
tools/robot_panel.py, karta Ramie): Zbierz szyszke = chwyt polityka ACT (wagiact_so101_grasp2/007000) + wrzut do sloika.pick(act_pick.py): na czas chwytu panel zatrzymuje uslugi Ramie i Kamera (port ramienia i RealSense na wylacznosc), po koncu sam je wznawia. Odmawia, gdy ktoras chodzi poza panelem (okno SSH). Wagi:--policyalboROBOT_ACT_POLICY, domyslnie~/models/act_so101_grasp2/007000/pretrained_model. W--demotylko--dry-run. Autostart go nie odpala.lerobot-rollout, a nie tylkoact_pick(inaczej rollout jechalby ramieniem dalej).motions/sloik.json: wrzut do sloika ze sciezki nagranej reka (tools/live_grasp/data/jar_cycle.json,JAR_UP/JAR_BACKzpick.py, dzialala przy odtwarzaniu). Tempo x1.5 jak wpick.py, podstawa w zakresie +-23 st (EEPROM), koniec w HOME zmotions/home.json.act_pick.pyuzywa go zamiast placeholderadrop_box.grasp_mid(stary HOME) idrop_box(placeholder, pan +90) maja"panel": false. Panel ramienia ich nie pokazuje i nie odtwarza.brain.py/arm_play.pydalej je widza.Jak sprawdzone
stop_allnie wznawia, STOP zabija wnuka na Linuksie, filtrpanel_motions, geometriasloik)UI w przegladarce w
--demo: sekcja i przyciski sa widoczne, odmowa pokazuje sie w zdarzeniach.Sprzet dotkniety: nie (ten PR)
Na robocie niesprawdzone. Najpierw sam
sloikz panelu ramienia, z szyszka w chwytaku i wylacznikiem w rece, a dopiero potem przycisk. Uwagi:sloikjedzie takze z pustym chwytakiem.push_to_pi.shnadpisuje na Pimotions/drop_box.json(pulapka z LOG).Checklist
python -m pytest tests -qzielone🤖 Generated with Claude Code