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.
29 lines
739 B
JSON
29 lines
739 B
JSON
{
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"name": "Existing Docker Compose (Extend)",
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"dockerComposeFile": [
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"docker-compose.yml"
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],
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"service": "devcontainer",
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"workspaceFolder": "/workspace",
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"customizations": {
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"vscode": {
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"extensions": [
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"gitlab.gitlab-workflow",
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"llvm-vs-code-extensions.vscode-clangd",
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"xaver.clang-format",
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"ms-vscode.cmake-tools",
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"zxh404.vscode-proto3",
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"donjayamanne.githistory",
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"mhutchie.git-graph",
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"matepek.vscode-catch2-test-adapter",
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"ryanluker.vscode-coverage-gutters",
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"donjayamanne.python-extension-pack",
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"adam-bender.commit-message-editor",
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"axetroy.vscode-changelog-generator",
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"vsliveshare.vsliveshare",
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"bierner.markdown-mermaid",
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"vadimcn.vscode-lldb"
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]
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}
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}
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} |