deploy-piper-single-websocket
为 Agilex Piper 单臂部署实现或修改基于 WebSocket 的远程推理链路，覆盖普通 `pi05` 和 `pi05star` 两种部署方式。Use when adapting `example/deploy/piper_single_on_PI0.py` so inference runs on a remote GPU/server, the robot-side process only collects observations and sends websocket requests, and the local machine still controls the arm over CAN. Also use when wiring `openpi` websocket server/client, selecting between `pi05` and `pi05star`, defining observation/action schemas including `adv_ind`, or validating server/local startup flow for single-arm OpenPI deployment.
2026-05-11