tron2_openpi
Deployment-focused fork of OpenPI for LimX TRON2 manipulation — pi0.5 policy serving, task fine-tuning, TRON2 transforms, and real-robot client examples.
File Explorer
- bug_report.yml
- feature_request.yml
- ci.yml
- pre-commit.yml
- pull_request_template.md
- candy_client.yaml
- candy_server.yaml
- cloth_client.yaml
- cloth_server.yaml
- sort_client.yaml
- sort_server.yaml
- tron2_deploy.client.example.yaml
- tron2_deploy.client.example_CN.yaml
- tron2_deploy.server.example.yaml
- tron2_deploy.server.example_CN.yaml
- example.yaml
- docker.md
- norm_stats.md
- remote_inference.md
- compose.yml
- constants.py
- convert_aloha_data_to_lerobot.py
- Dockerfile
- env.py
- main.py
- README.md
- real_env.py
- requirements.in
- requirements.txt
- robot_utils.py
- video_display.py
- compose.yml
- Dockerfile
- env.py
- main.py
- README.md
- requirements.in
- requirements.txt
- saver.py
- compute_droid_nonidle_ranges.py
- convert_droid_data_to_lerobot.py
- main.py
- README.md
- README_train.md
- compose.yml
- convert_libero_data_to_lerobot.py
- Dockerfile
- main.py
- README.md
- requirements.in
- requirements.txt
- compose.yml
- Dockerfile
- main.py
- README.md
- requirements.in
- requirements.txt
- _external_tron2_env.py
- deploy_config.py
- pi_client.py
- pi_client_rtc.py
- README.md
- convert_jax_model_to_pytorch.py
- inference.ipynb
- policy_records.ipynb
- ACT-MIT.txt
- DROID-MIT.txt
- Kinetix-MIT.txt
- msgpack-numpy-BSD-3-Clause.txt
- robosuite-MIT-and-Apache-2.0.txt
- policy_agent.py
- agent.py
- environment.py
- runtime.py
- subscriber.py
- __init__.py
- action_chunk_broker.py
- base_policy.py
- image_tools.py
- image_tools_test.py
- msgpack_numpy.py
- msgpack_numpy_test.py
- websocket_client_policy.py
- pyproject.toml
- compose.yml
- install_docker_ubuntu22.sh
- install_nvidia_container_toolkit.sh
- serve_policy.Dockerfile
- __init__.py
- cloud_train_entrypoint_portable.sh
- cloud_train_entrypoint_portable_test.py
- compute_norm_stats.py
- compute_norm_stats_test.py
- serve_policy.py
- train.py
- train_pytorch.py
- train_test.py
- train_tron2_task.py
- fsq_tokenizer.py
- __init__.py
- gemma.py
- gemma_fast.py
- lora.py
- lora_test.py
- model.py
- model_test.py
- pi0.py
- pi0_config.py
- pi0_fast.py
- pi0_test.py
- siglip.py
- tokenizer.py
- tokenizer_test.py
- vit.py
- configuration_gemma.py
- modeling_gemma.py
- modeling_paligemma.py
- check.py
- modeling_siglip.py
- gemma_pytorch.py
- pi0_pytorch.py
- preprocessing_pytorch.py
- aloha_policy.py
- droid_policy.py
- libero_policy.py
- policy.py
- policy_config.py
- policy_test.py
- tron2_policy.py
- __init__.py
- rtc_config.py
- rtc_processor.py
- websocket_policy_server.py
- __init__.py
- array_typing.py
- deploy_config.py
- download.py
- download_test.py
- image_tools.py
- image_tools_test.py
- nnx_utils.py
- normalize.py
- normalize_test.py
- polaris_config.py
- roboarena_config.py
- checkpoints.py
- config.py
- config_test.py
- data_loader.py
- data_loader_test.py
- droid_rlds_dataset.py
- optimizer.py
- sharding.py
- tron2_task_config.py
- tron2_task_config_test.py
- utils.py
- weight_loaders.py
- __init__.py
- conftest.py
- py.typed
- transforms.py
- transforms_test.py
- test_repository_readiness.py
- .dockerignore
- .gitignore
- .pre-commit-config.yaml
- .python-version
- CHANGELOG.md
- CONTRIBUTING.md
- INSTALL.md
- INSTALL_CN.md
- LICENSE
- LICENSE_GEMMA.txt
- MODIFICATIONS.md
- NOTICE
- pyproject.toml
- README.md
- README_CN.md
- SECURITY.md
- THIRD_PARTY_NOTICES.md
- uv.lock
# Use via CDN
jsDelivrjsDelivr serves any public GitHub repository as a CDN with zero setup. Pick a version and a file to get a ready-to-paste link and snippet.
Command Glossary
Commands referenced in this DOCs, explained below.
uv run
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uv run
Run a command or script in the project environment.
uv run {{path/to/script.py}}
Run a Python script:
uv run {{[-m|--module]}} {{module_name}}
Run a Python module:
uv run {{[-w|--with]}} {{package}} {{command}}
Run a command with additional packages installed temporarily:
uv sync
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uv sync
Update the project's environment to match the lockfile.
uv sync
Sync the project environment with the lockfile:
uv sync --all-extras
Sync and include all optional dependencies:
uv sync --extra {{extra_name}}
Sync with specific optional dependencies:
bridge
View Details ▼
bridge
Show and manipulate network bridge addresses and devices.
bridge {{[l|link]}}
List all bridges and their interfaces:
bridge {{[v|vlan]}}
Show port vlan information:
sudo bridge {{[v|vlan]}} {{[a|add]}} dev {{lanX}} vid {{vlan_id}} pvid {{tagged|untagged}}
Assign a VLAN to a port: