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.
35 lines
1.2 KiB
Docker
35 lines
1.2 KiB
Docker
FROM ubuntu:20.04
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ENV TZ=Asia/Shanghai
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RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
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ENV DEBIAN_FRONTEND=noninteractive
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USER root
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# install zsh and oh-my-zsh
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RUN apt update && apt-get install -y git wget zsh && \
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wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh && chmod +x install.sh
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RUN ./install.sh
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RUN git clone https://github.com/zsh-users/zsh-autosuggestions.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions && \
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apt install zsh-syntax-highlighting
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# configure zsh
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RUN echo 'export ZSH=$HOME/.oh-my-zsh' >> ~/.zshrc && \
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echo 'ZSH_THEME="ys"' >> ~/.zshrc && \
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echo 'plugins=(git zsh-autosuggestions)' >> ~/.zshrc && \
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echo 'source $ZSH/oh-my-zsh.sh' >> ~/.zshrc && \
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echo 'source /usr/share/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh' >> ~/.zshrc
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RUN chsh -s /bin/zsh
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# install build tools
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RUN apt-get install -y build-essential gcc-9 g++-9 gdb cmake ninja-build
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RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 100 \
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&& update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 100
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# install libraries
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RUN apt-get install -y libyaml-cpp-dev libeigen3-dev
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WORKDIR /workspace
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CMD ["zsh"] |