Add deployment scripts (server launcher + NUC client contract)

deploy/client_example.py

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+"""Fixed I/O contract for the bread policy — run on the robot NUC.
+
+pip install openpi-client   (pure-CPU, no jax; vendored in the openpi repo
+under packages/openpi-client if not on PyPI)
+
+Input : one obs dict per control step (see below)
+Output: actions (40, 14) — per arm [dxyz(3), axis-angle drot(3), ABS gripper(1)],
+        stepwise-chained deltas @30Hz: executor integrates
+        T_cmd,k = T_cmd,k-1 @ delta_k starting from T_current.
+Latency matching: measure l = camera->infer->command; start executing at
+step ceil(l * 30) instead of step 0.
+"""
+import numpy as np
+from openpi_client import websocket_client_policy
+
+PROMPT = "take the bread out of the bowl and put the bread into the toaster"
+
+client = websocket_client_policy.WebsocketClientPolicy(host="GPU_WORKSTATION_IP", port=8000)
+
+def get_actions(left_img: np.ndarray,   # uint8 HWC (any size; server letterboxes to 224)
+                right_img: np.ndarray,  # uint8 HWC
+                rel_state_20d: np.ndarray,  # relative_to_first grasp_site poses, see README
+                ) -> np.ndarray:
+    obs = {
+        "left_wrist_image": left_img,
+        "right_wrist_image": right_img,
+        "state": rel_state_20d.astype(np.float32),
+        "prompt": PROMPT,
+    }
+    return np.asarray(client.infer(obs)["actions"])[:, :14]  # (40, 14)
+
+if __name__ == "__main__":
+    a = get_actions(np.zeros((480, 640, 3), np.uint8),
+                    np.zeros((480, 640, 3), np.uint8),
+                    np.zeros(20, np.float32))
+    print("actions:", a.shape)  # smoke test: (40, 14)

deploy/serve_bread.sh

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+#!/usr/bin/env bash
+# Policy server for pi05-bread-r1-top200. Run on the lab GPU workstation
+# (>=16GB VRAM). The robot NUC connects via openpi_client over LAN.
+#
+# One-time setup on this machine:
+#   git clone -b bread-r1 https://github.com/BrianZhengJourney/openpi && cd openpi
+#   GIT_LFS_SKIP_SMUDGE=1 uv sync
+#   hf download BrianZhengJourney/pi05-bread-r1-top200 --local-dir ~/bread_ckpt
+set -euo pipefail
+CKPT="${1:-$HOME/bread_ckpt/10000}"
+exec uv run scripts/serve_policy.py policy:checkpoint \
+  --policy.config=pi05_bread_r1_lora \
+  --policy.dir="$CKPT"