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.
64 lines
2.4 KiB
Bash
Executable File
64 lines
2.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# =============================================================================
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# bundle.sh — pack the manual recorder into one file you can copy anywhere.
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#
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# ./bundle.sh -> manual_recorder_<date>.tar.gz (~2 MB)
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# ./bundle.sh --with-takes -> also include DataG1/*.jsonl
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# ./bundle.sh --out /tmp/x.tar.gz
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#
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# What goes in: the recorder itself, its launcher, the home pose, the vendored
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# Unitree python SDK, and a README. That is everything the CLI path needs except
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# the compiled DDS bindings, which cannot travel in a tarball — the README says
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# how to get them.
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#
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# This is the fallback for when Docker, the dashboard, or the network are not
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# available: unpack on any machine that can reach the robot's DDS interface and
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# record from a terminal.
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# =============================================================================
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set -euo pipefail
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HERE="$(cd "$(dirname "$0")" && pwd)"
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REPO="$(cd "$HERE/.." && pwd)"
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WITH_TAKES=0
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OUT="$PWD/manual_recorder_$(date +%Y%m%d).tar.gz"
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while [ $# -gt 0 ]; do
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case "$1" in
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--with-takes) WITH_TAKES=1 ;;
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--out) shift; OUT="$1" ;;
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-h|--help) sed -n '3,15p' "$0" | sed 's/^# \{0,1\}//'; exit 0 ;;
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*) echo "unknown option: $1" >&2; exit 1 ;;
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esac
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shift
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done
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STAGE="$(mktemp -d)"
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trap 'rm -rf "$STAGE"' EXIT
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K="$STAGE/manual_recorder"
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mkdir -p "$K/recorder" "$K/vendor"
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cp "$HERE/g1_record_replay.py" "$HERE/record.sh" "$K/recorder/"
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[ -f "$HERE/README.md" ] && cp "$HERE/README.md" "$K/recorder/"
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[ -f "$HERE/arm_home.jsonl" ] && cp "$HERE/arm_home.jsonl" "$K/recorder/"
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chmod +x "$K/recorder/record.sh"
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# The SDK is pure python and travels fine; the compiled cyclonedds bindings do
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# not, which is why the README leads with the two runtimes that already have them.
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if [ -d "$REPO/vendor/unitree_sdk2_python" ]; then
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cp -r "$REPO/vendor/unitree_sdk2_python" "$K/vendor/"
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rm -rf "$K/vendor/unitree_sdk2_python/.git" 2>/dev/null || true
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else
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echo ">> note: no vendored SDK at $REPO/vendor — bundling without it"
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fi
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if [ "$WITH_TAKES" = 1 ] && [ -d "$HERE/DataG1" ]; then
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mkdir -p "$K/recorder/DataG1"
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cp "$HERE"/DataG1/*.jsonl "$K/recorder/DataG1/" 2>/dev/null || true
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echo ">> takes included: $(ls "$K/recorder/DataG1" | wc -l) file(s)"
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fi
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tar -czf "$OUT" -C "$STAGE" manual_recorder
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echo ">> wrote $OUT ($(du -h "$OUT" | cut -f1))"
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echo " unpack: tar -xzf $(basename "$OUT") && cd manual_recorder/recorder"
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echo " check: ./record.sh doctor"
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