107 lines
3.6 KiB
Bash
Executable File
107 lines
3.6 KiB
Bash
Executable File
#!/bin/bash
|
|
# ============================================================================
|
|
# Saqr PPE Detection - Deploy to Unitree G1
|
|
# ============================================================================
|
|
#
|
|
# Usage (from dev machine, any cwd):
|
|
# scripts/deploy.sh # deploy + install deps
|
|
# scripts/deploy.sh --run # deploy + install + start bridge
|
|
# scripts/deploy.sh --ip 10.0.0.5 # custom robot IP
|
|
#
|
|
# ============================================================================
|
|
|
|
set -e
|
|
|
|
HERE="$(cd "$(dirname "$0")" && pwd)"
|
|
PROJECT_ROOT="$(cd "$HERE/.." && pwd)"
|
|
|
|
ROBOT_IP="${ROBOT_IP:-192.168.123.164}"
|
|
ROBOT_USER="${ROBOT_USER:-unitree}"
|
|
ROBOT_ENV="${ROBOT_ENV:-marcus}"
|
|
REMOTE_DIR="/home/${ROBOT_USER}/Saqr"
|
|
SSH_OPTS="-o StrictHostKeyChecking=no -o ConnectTimeout=10"
|
|
|
|
RUN_AFTER=false
|
|
|
|
while [[ $# -gt 0 ]]; do
|
|
case $1 in
|
|
--run) RUN_AFTER=true; shift ;;
|
|
--ip) ROBOT_IP="$2"; shift 2 ;;
|
|
--env) ROBOT_ENV="$2"; shift 2 ;;
|
|
*) echo "Unknown arg: $1"; exit 1 ;;
|
|
esac
|
|
done
|
|
|
|
echo "============================================"
|
|
echo " Saqr PPE - Deploy to Unitree G1"
|
|
echo "============================================"
|
|
echo " Robot : ${ROBOT_USER}@${ROBOT_IP}"
|
|
echo " Env : ${ROBOT_ENV}"
|
|
echo " Remote: ${REMOTE_DIR}"
|
|
echo " Source: ${PROJECT_ROOT}"
|
|
echo "============================================"
|
|
|
|
echo ""
|
|
echo "[1/4] Testing SSH connection..."
|
|
ssh ${SSH_OPTS} ${ROBOT_USER}@${ROBOT_IP} "echo 'Connected OK'" || {
|
|
echo "[ERROR] Cannot reach ${ROBOT_IP}. Is the robot on?"
|
|
exit 1
|
|
}
|
|
|
|
echo "[2/4] Creating remote directory..."
|
|
ssh ${SSH_OPTS} ${ROBOT_USER}@${ROBOT_IP} \
|
|
"mkdir -p ${REMOTE_DIR}/runtime/{captures/{SAFE,PARTIAL,UNSAFE},logs,runs} ${REMOTE_DIR}/data/models"
|
|
|
|
echo "[3/4] Rsyncing package..."
|
|
RSYNC_OPTS=(
|
|
-avz --delete
|
|
--exclude="__pycache__" --exclude="*.pyc"
|
|
--exclude=".git" --exclude="runtime" --exclude="data/dataset"
|
|
--exclude="*.egg-info" --exclude="build/" --exclude="dist/"
|
|
)
|
|
rsync "${RSYNC_OPTS[@]}" \
|
|
"${PROJECT_ROOT}/saqr" \
|
|
"${PROJECT_ROOT}/scripts" \
|
|
"${PROJECT_ROOT}/config" \
|
|
"${PROJECT_ROOT}/docs" \
|
|
"${PROJECT_ROOT}/pyproject.toml" \
|
|
"${PROJECT_ROOT}/requirements.txt" \
|
|
"${PROJECT_ROOT}/README.md" \
|
|
${ROBOT_USER}@${ROBOT_IP}:${REMOTE_DIR}/
|
|
|
|
# Weights (these are outside the package so rsync them separately).
|
|
if [ -f "${PROJECT_ROOT}/data/models/saqr_best.pt" ]; then
|
|
echo " Uploading saqr_best.pt..."
|
|
scp ${SSH_OPTS} "${PROJECT_ROOT}/data/models/saqr_best.pt" \
|
|
${ROBOT_USER}@${ROBOT_IP}:${REMOTE_DIR}/data/models/
|
|
else
|
|
echo " [WARN] data/models/saqr_best.pt not found - train first!"
|
|
fi
|
|
|
|
echo "[4/4] Installing package on robot..."
|
|
ssh ${SSH_OPTS} ${ROBOT_USER}@${ROBOT_IP} bash -s <<INSTALL_EOF
|
|
set -e
|
|
source ~/miniconda3/etc/profile.d/conda.sh
|
|
conda activate ${ROBOT_ENV}
|
|
cd ${REMOTE_DIR}
|
|
pip install -q -e . 2>/dev/null || pip install -e .
|
|
chmod +x scripts/start_saqr.sh scripts/run_robot.sh scripts/run_local.sh 2>/dev/null || true
|
|
echo " Install OK"
|
|
INSTALL_EOF
|
|
|
|
if [ "$RUN_AFTER" = true ]; then
|
|
echo ""
|
|
echo "Starting Saqr bridge on robot..."
|
|
ssh ${SSH_OPTS} -t ${ROBOT_USER}@${ROBOT_IP} bash -c "'${REMOTE_DIR}/scripts/start_saqr.sh'"
|
|
else
|
|
echo ""
|
|
echo "============================================"
|
|
echo " Deployed! Start the bridge via:"
|
|
echo "============================================"
|
|
echo ""
|
|
echo " ssh ${ROBOT_USER}@${ROBOT_IP}"
|
|
echo " ${REMOTE_DIR}/scripts/start_saqr.sh # manual"
|
|
echo " sudo systemctl restart saqr-bridge # systemd (see docs/start.md)"
|
|
echo ""
|
|
fi
|