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.
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