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.
28 lines
1.4 KiB
Plaintext
28 lines
1.4 KiB
Plaintext
# Keep the built-in card reader off the hands' USB hub.
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#
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# A Generic USB3.0 card reader (05e3:0749) sits on the same hub branch as the two
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# CH340 hand adapters (measured: reader at 1-2.2.4, hands at 1-2.2.1.1 and 1-2.2.3).
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# With no card in it, it power-cycles continuously — 851 cycles/hour were measured —
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# and every cycle re-enumerates the whole branch. That is what renumbers /dev/ttyUSB*
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# under the hands and produces the dashboard's "port drift" warning; under load it has
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# also dropped the hands mid-session.
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#
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# inspire_g1 survives the renumbering (it pins each hand by USB PATH, not by ttyUSB
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# number), so this is about stopping the churn, not about which hand is which.
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#
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# Deauthorizing tells the kernel to stop talking to the device. It is reversible:
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# echo 1 | sudo tee /sys/bus/usb/devices/<path>/authorized
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# and it only affects the card reader — nothing else on the robot uses it.
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#
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# Install:
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# sudo cp udev/99-inspire-hub-cardreader.rules /etc/udev/rules.d/
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# sudo udevadm control --reload
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# # apply now, without a replug:
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# for d in /sys/bus/usb/devices/*/; do \
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# [ "$(cat $d/idVendor 2>/dev/null)" = "05e3" ] && \
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# [ "$(cat $d/idProduct 2>/dev/null)" = "0749" ] && \
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# echo 0 | sudo tee $d/authorized; done
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#
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# Remove: delete this file, reload, and re-authorize as above.
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ACTION=="add", SUBSYSTEM=="usb", ATTR{idVendor}=="05e3", ATTR{idProduct}=="0749", ATTR{authorized}="0"
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