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.
49 lines
2.7 KiB
Bash
Executable File
49 lines
2.7 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Run the containerized hand stack (service + bridge + dashboard).
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# Stops any host-native inspire_g1/bridge first — two services would collide on
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# the RS-485 bus. Needs --network host (DDS) + --privileged -v /dev:/dev (serial).
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set -e
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IMG="${IMG:-inspire-hand:latest}"
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IFACE="${IFACE:-eth0}"
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echo ">> removing old container, then killing host-native services (avoid double inspire_g1)"
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docker rm -f inspire-hand 2>/dev/null || true # kill container's procs first
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pkill -x inspire_g1 2>/dev/null || true # now only host natives remain
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pkill -x hand_bridge 2>/dev/null || true
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pkill -f hand_web.py 2>/dev/null || true
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sleep 1; pkill -9 -x inspire_g1 2>/dev/null || true
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# INSPIRE_RIGHT_PATH pins which physical USB socket is the RIGHT hand. Both hands answer on
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# RS-485 id 1, so without this the side is inferred from USB path ORDER — correct today, but
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# it would flip undetected if the two dongles were swapped between sockets.
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# Operator-verified at the robot 2026-08-03: usb 1-2.2.1.1 is the physical RIGHT hand.
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# (An earlier wiggle test concluded the opposite; the operator watching the robot corrected
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# it. Flip this one value if the sides ever read swapped again — nothing else needs changing.)
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RIGHT_PATH="${INSPIRE_RIGHT_PATH:-1-2.2.1.1}"
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# Saved shapes/combos on the HOST, so rebuilding the image no longer wipes the library.
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DATA_DIR="${HAND_DATA_DIR:-$HOME/hand_data}"
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# Recordings live on the HOST for the same reason the shape library does: a `docker rm -f`
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# in this script would otherwise destroy every take ever made.
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mkdir -p "$DATA_DIR" "$DATA_DIR/DataG1"
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# always: the hands must be there whenever the robot is, and the Sanad "Hands" tab proxies to
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# this stack — a robot that boots without it shows an OFFLINE banner until someone SSHes in.
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# `always` rather than `unless-stopped` so it also comes back after a manual `docker stop`,
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# not just after a reboot. Note the trade-off: this stack takes the RS-485 bus and
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# rt/inspire/cmd as soon as it starts. `./start.sh stop` still removes it (rm -f), and it
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# stays gone until the next ./start.sh.
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docker run -d --name inspire-hand --restart always \
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--network host --privileged -v /dev:/dev \
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-v "$DATA_DIR":/opt/hand/data \
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-v "$DATA_DIR/DataG1":/opt/recorder/DataG1 \
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-e HAND_DATA=/opt/hand/data \
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-e INSPIRE_RIGHT_PATH="$RIGHT_PATH" \
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-e IFACE="$IFACE" "$IMG"
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echo ">> right hand pinned to usb $RIGHT_PATH · data dir $DATA_DIR · takes $DATA_DIR/DataG1"
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sleep 4
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docker logs --tail 24 inspire-hand || true
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echo ">> inspire_g1 instances (want 1, the container's): $(pgrep -xc inspire_g1)"
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ip=$(hostname -I | awk '{print $1}')
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echo ">> dashboard: http://$ip:8088"
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