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.
21 lines
1008 B
YAML
21 lines
1008 B
YAML
# Run the pre-built image (build first: ./docker/build_image.sh).
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# docker compose -f docker/docker-compose.yml up -d
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services:
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inspire-hand:
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image: inspire-hand:latest
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container_name: inspire-hand
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network_mode: host # CycloneDDS + arm actions need the host network (eth0)
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privileged: true # + /dev mount so the container sees the CH340 ttyUSB*
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volumes:
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- /dev:/dev
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# Compose does NOT expand a bare ~ in a volume path (it would create a directory
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# literally named "~"), so the default goes through $HOME.
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- ${HAND_DATA_DIR:-${HOME}/hand_data}:/opt/hand/data # shapes + combos
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- ${HAND_DATA_DIR:-${HOME}/hand_data}/DataG1:/opt/recorder/DataG1 # takes
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environment:
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- IFACE=eth0
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- HAND_DATA=/opt/hand/data
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# always: the hands should be available whenever the robot is powered, including after a
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# manual stop or a docker daemon restart. It owns the RS-485 bus while it runs.
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restart: always
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