kassam 2a78f1b609 Record/replay studio, manual recorder kit, and new-robot install tooling

Dashboard (web/hand_web.py)
- Record/replay panel driving g1_record_replay.py as a pty child: take library
  (replay/download/duplicate/rename/delete/upload/delete-all), pause & resume,
  and in-take key buttons that grey out in the --fingers modes the recorder
  ignores (measured: in touch mode the keys change nothing at all).
- /api/restart is container-aware: it kills inspire_g1 and lets the supervisor
  relaunch it. It used to run manage.sh, which started a SECOND inspire_g1
  beside the supervised one - two writers on one RS-485 bus - and never
  returned.
- Shape/combo libraries take a .bak on every write, with an undo button. Both
  files are rewritten in full, so deleting the last entry was unrecoverable.

recorder/
- The recorder lives in this project now: one source of truth for the CLI and
  the dashboard, with pause/resume added to replay.
- record.sh picks a runtime by itself (a python with the SDK, the vendored SDK,
  or the inspire-hand container). bundle.sh packs a ~340KB portable kit.

tools/
- preflight.sh: read-only readiness report for a new robot (hardware, docker,
  build prerequisites, per-robot settings) ending in an install-path verdict.
- fetch_deps.sh: stage build dependencies, verifying the libs are aarch64.
- export_ui.py: regenerate an embedding app's vendored copy of the UI.

docker/
- build_image.sh resolves its dependencies from several layouts: deps/ inside
  the project, /usr/local, a source install prefix, or a ROS2 colcon workspace
  (where the idl headers live when /usr/local has none).
- web/ is copied in the last layer, so dashboard edits skip the C++ rebuild.
- restart=always, and start.sh always builds so an edit cannot silently run a
  stale image.

deps/unitree_sdk2 is vendored so a robot that has never seen the SDK can build.
Docs: README quickstart + embedding notes, SETUP_G1 corrected (that udev rule
stopped creating /dev/inspire_* symlinks a while ago), ROBOT_README describing
a live install.

2026-08-28 20:27:28 +04:00

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unitree_sdk2

Unitree robot sdk version 2.

Prebuild environment

OS (Ubuntu 20.04 LTS)
CPU (aarch64 and x86_64)
Compiler (gcc version 9.4.0)

Environment Setup

Before building or running the SDK, ensure the following dependencies are installed:

CMake (version 3.10 or higher)
GCC (version 9.4.0)
Make

You can install the required packages on Ubuntu 20.04 with:

apt-get update
apt-get install -y cmake g++ build-essential libyaml-cpp-dev libeigen3-dev libboost-all-dev libspdlog-dev libfmt-dev

Build examples

To build the examples inside this repository:

mkdir build
cd build
cmake ..
make

Installation

To build your own application with the SDK, you can install the unitree_sdk2 to your system directory:

mkdir build
cd build
cmake ..
sudo make install

Or install unitree_sdk2 to a specified directory:

mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree_robotics
sudo make install

You can refer to example/cmake_sample on how to import the unitree_sdk2 into your CMake project.

Note that if you install the library to other places other than /opt/unitree_robotics, you need to make sure the path is added to "${CMAKE_PREFIX_PATH}" so that cmake can find it with "find_package()".

Notice

For more reference information, please go to Unitree Document Center.

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