Add inference and record desktop app

examples/piper/inference.desktop

@@ -0,0 +1,7 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Name=Inference
+Exec=bash -c "/home/agilex/Desktop/inference.sh; sleep 5"
+Terminal=true
+Categories=Application

examples/piper/inference.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+if ! ifconfig | grep -q "can_left"; then
+    source /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/can_config.sh 
+fi
+sleep 5
+export PYTHONPATH=$PYTHONPATH:/home/agilex/1ms.ai/pyorbbecsdk/install/lib/:/home/agilex/1ms.ai/ugv_sdk
+source /home/agilex/miniconda3/etc/profile.d/conda.sh  
+pkill dora
+conda activate dora
+dora run /home/agilex/1ms.ai/dora/examples/piper/inference.yml

examples/piper/post_process_action.py

@@ -10,12 +10,21 @@ import pyarrow as pa
 
 for event in node:
     if event["type"] == "INPUT":
-        actions = event["value"].to_numpy().reshape((64, 14))
-
-        # Skip action to only keep 8 spread action
-        actions = actions[[0, 8, 16, 24, 32, 40, 48, 56], :]
+        actions = event["value"].to_numpy().copy().reshape((64, 14))
 
         for action in actions:
+            gripper_left = action[6]
+            gripper_right = action[13]
+            if gripper_right < 0.45:
+                action[13] = 0.3
+            else:
+                action[13] = 0.6
+
+            if gripper_left < 0.45:
+                action[6] = 0.3
+            else:
+                action[6] = 0.6
+
             node.send_output("jointstate_left", pa.array(action[:7], type=pa.float32()))
             node.send_output(
                 "jointstate_right", pa.array(action[7:], type=pa.float32())

examples/piper/record.desktop

@@ -0,0 +1,7 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Name=Record
+Exec=bash -c "/home/agilex/Desktop/record.sh; sleep 5"
+Terminal=true
+Categories=Application

examples/piper/record.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+if ! ifconfig | grep -q "can_left"; then
+    source /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/can_config.sh 
+fi
+sleep 5
+export PYTHONPATH=$PYTHONPATH:/home/agilex/1ms.ai/pyorbbecsdk/install/lib/:/home/agilex/1ms.ai/ugv_sdk
+source /home/agilex/miniconda3/etc/profile.d/conda.sh  
+pkill dora
+conda activate dora
+dora run /home/agilex/1ms.ai/dora/examples/piper/record.yml