2a78f1b609
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.
61 lines
1.4 KiB
Markdown
61 lines
1.4 KiB
Markdown
# unitree_sdk2
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Unitree robot sdk version 2.
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### Prebuild environment
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* OS (Ubuntu 20.04 LTS)
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* CPU (aarch64 and x86_64)
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* Compiler (gcc version 9.4.0)
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### Environment Setup
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Before building or running the SDK, ensure the following dependencies are installed:
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- CMake (version 3.10 or higher)
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- GCC (version 9.4.0)
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- Make
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You can install the required packages on Ubuntu 20.04 with:
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```bash
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apt-get update
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apt-get install -y cmake g++ build-essential libyaml-cpp-dev libeigen3-dev libboost-all-dev libspdlog-dev libfmt-dev
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```
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### Build examples
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To build the examples inside this repository:
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```bash
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mkdir build
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cd build
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cmake ..
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make
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```
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### Installation
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To build your own application with the SDK, you can install the unitree_sdk2 to your system directory:
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```bash
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mkdir build
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cd build
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cmake ..
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sudo make install
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```
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Or install unitree_sdk2 to a specified directory:
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```bash
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mkdir build
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cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree_robotics
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sudo make install
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```
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You can refer to `example/cmake_sample` on how to import the unitree_sdk2 into your CMake project.
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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()".
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### Notice
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For more reference information, please go to [Unitree Document Center](https://support.unitree.com/home/zh/developer).
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