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.
121 lines
5.6 KiB
Bash
Executable File
121 lines
5.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# =============================================================================
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# record.sh — run the recorder WITHOUT the web dashboard.
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#
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# The backup plan: it finds a working way to run g1_record_replay.py and uses it,
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# instead of you remembering which python has the Unitree SDK on which machine.
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#
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# ./record.sh doctor what's available here, what's missing
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# ./record.sh record --output wave --seconds 20
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# ./record.sh replay --input wave --speed 0.5
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# ./record.sh eth0 record --output wave # explicit interface (else auto)
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#
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# Any flag the script takes is passed straight through — this adds nothing to the
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# recorder, it only starts it.
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#
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# How it picks a runtime, best first:
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# 1. $RECORDER_PY — you said which python to use
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# 2. a python that can already import unitree_sdk2py (conda g1_env, system, …)
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# 3. ../vendor/unitree_sdk2_python on PYTHONPATH, if that makes it importable
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# 4. the inspire-hand container, which has the SDK baked in
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# Use --how to see which one it chose without running anything.
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#
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# Env: IFACE (default: eth0 on the robot, enp3s0 elsewhere)
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# =============================================================================
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set -uo pipefail
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HERE="$(cd "$(dirname "$0")" && pwd)"
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SCRIPT="$HERE/g1_record_replay.py"
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VENDOR="$(cd "$HERE/.." 2>/dev/null && pwd)/vendor/unitree_sdk2_python"
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CONTAINER="${CONTAINER:-inspire-hand}"
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[ "$(uname -m)" = "aarch64" ] && DEF_IFACE=eth0 || DEF_IFACE=enp3s0
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IFACE="${IFACE:-$DEF_IFACE}"
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g=$'\033[32m'; r=$'\033[31m'; y=$'\033[33m'; d=$'\033[2m'; n=$'\033[0m'
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have_sdk() { # $1 = python, $2 = optional PYTHONPATH
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PYTHONPATH="${2:-}" "$1" -c 'import unitree_sdk2py' >/dev/null 2>&1
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}
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# ---- pick a runtime ---------------------------------------------------------
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MODE=""; PY=""; PYPATH=""
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if [ -n "${RECORDER_PY:-}" ] && have_sdk "$RECORDER_PY"; then
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MODE=local; PY="$RECORDER_PY"
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else
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for cand in "${RECORDER_PY:-}" "$HOME/miniconda3/envs/g1_env/bin/python3" \
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"$HOME/anaconda3/envs/g1_env/bin/python3" python3; do
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[ -n "$cand" ] || continue
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command -v "$cand" >/dev/null 2>&1 || [ -x "$cand" ] || continue
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if have_sdk "$cand"; then MODE=local; PY="$cand"; break; fi
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# The vendored SDK is pure python, but it still needs the compiled
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# cyclonedds bindings — so this only helps where those already exist.
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if [ -d "$VENDOR" ] && have_sdk "$cand" "$VENDOR"; then
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MODE=local; PY="$cand"; PYPATH="$VENDOR"; break
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fi
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done
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fi
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if [ -z "$MODE" ] && command -v docker >/dev/null 2>&1 \
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&& docker exec "$CONTAINER" true >/dev/null 2>&1; then
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MODE=docker
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fi
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describe() {
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case "$MODE" in
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local) printf ' %sruntime%s local python: %s%s\n' "$g" "$n" "$PY" \
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"${PYPATH:+ (PYTHONPATH=$PYPATH)}"
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printf ' %stakes%s %s/DataG1\n' "$d" "$n" "$PWD" ;;
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docker) printf ' %sruntime%s the %s container (SDK baked in)\n' "$g" "$n" "$CONTAINER"
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printf ' %stakes%s /opt/recorder/DataG1 in the container = ~/hand_data/DataG1 on the host\n' "$d" "$n" ;;
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*) printf ' %sno runtime%s — no python here can import unitree_sdk2py, and the %s container is not running\n' \
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"$r" "$n" "$CONTAINER" ;;
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esac
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}
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# ---- doctor -----------------------------------------------------------------
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if [ "${1:-}" = "doctor" ] || [ "${1:-}" = "--how" ]; then
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printf '\nRecorder runtime\n'; describe
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printf '\nDetail\n'
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printf ' script %s\n' "$([ -f "$SCRIPT" ] && echo "$SCRIPT" || echo "MISSING")"
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printf ' vendored SDK %s\n' "$([ -d "$VENDOR" ] && echo "$VENDOR" || echo "not next to this folder")"
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printf ' home pose %s\n' "$([ -f "$HERE/arm_home.jsonl" ] && echo "arm_home.jsonl" || echo "MISSING — replay skips return-to-home")"
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printf ' interface %s\n' "$IFACE"
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for c in "$HOME/miniconda3/envs/g1_env/bin/python3" python3; do
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[ -x "$c" ] || command -v "$c" >/dev/null 2>&1 || continue
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if have_sdk "$c"; then s="${g}has unitree_sdk2py${n}"; else s="${y}no unitree_sdk2py${n}"; fi
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printf ' python %-46s %s\n' "$c" "$s"
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done
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if [ "$MODE" = "" ]; then
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printf '\n%sFix one of these%s\n' "$y" "$n"
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printf ' · conda activate g1_env (workstation — the env that has the SDK)\n'
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# Only suggest it where it exists: a standalone bundle has no start.sh.
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[ -f "$HERE/../start.sh" ] && \
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printf ' · start the hand stack: ../start.sh (then this uses the container)\n'
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printf ' · install the bindings: pip install "cyclonedds==0.10.2" && pip install -e %s\n' "$VENDOR"
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exit 1
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fi
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exit 0
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fi
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[ -f "$SCRIPT" ] || { echo "${r}missing${n} $SCRIPT"; exit 1; }
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if [ -z "$MODE" ]; then
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printf '%sno way to run the recorder here%s — try: %s doctor\n' "$r" "$n" "$0" >&2
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exit 1
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fi
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# ---- interface: accept it as $1, or insert the default ----------------------
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# The recorder takes the interface as its first positional arg. Typing it every
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# time is noise, so if the first argument is already an action we insert one.
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case "${1:-}" in
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record|replay) set -- "$IFACE" "$@" ;;
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esac
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describe >&2
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printf '%s>> %s %s%s\n' "$d" "$(basename "$SCRIPT")" "$*" "$n" >&2
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if [ "$MODE" = "docker" ]; then
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# -it: the in-take keys (o/c/[/]/;/' and 1-9) and the pause key need a TTY.
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exec docker exec -it -w /opt/recorder "$CONTAINER" python3 g1_record_replay.py "$@"
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fi
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cd "$PWD" || exit 1 # takes land in the CALLER's DataG1, not the script's
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exec env ${PYPATH:+PYTHONPATH="$PYPATH"} "$PY" "$SCRIPT" "$@"
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