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This repository contains secondary development guidance on Fourier GRX Robot under docker environment provided. The scope of hardware includes robot joints, dexhand and IMU.

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Fourier Hardware Open

This repository includes the following contents:

  1. README.md: Basic introduction
  2. python folder: Contains some simple Python scripts
  3. run_docker.bash: Docker startup script
  4. tutorial_*.ipynb: Basic usage and introduction
  5. update: Upgrade packages for grxsot and Fourier hardware

Table of Contents

Running Fourier Hardware with Docker

This tutorial introduces the basic usage of Fourier Hardware. Please follow the instructions below to get started.

Downloading Docker Image

The environment is built on the base image and updated via deb packages. The base image tag is v2.2.

To download the base image file, click fourier_hardware.tar.

For video tutorials, please refer to fourier_hardware_guidance.

Loading Docker Image

docker load -i fourier_hardware.tar

Using Script to Start Container:

After downloading the image, you can start the container using the following script which is located in the root directory of the repository:

bash run_docker.bash

This script will start a docker container with the default fourier_hardware:v2.2 image.

Note: After exiting the container, it will be removed automatically. If you want to keep the container after exiting it, please modify the script accordingly.

Upgrading to Latest Version(Optional)

After entering the container, navigate to the update folder in the repository and run the following command to upgrade the packages:

dpkg -i *.deb

This command will install the latest version of the packages. After the update, you can save the latest changes using docker commit on a new terminal window to update the current image.

Example:

docker commit fourier_hardware fourier_hardware:latest

This command will create a new image with the latest changes.

The image name in the run_docker.bash script should then be updated to fourier_hardware:latest to use the latest version.

Running Python Tutorial with Jupyter Notebook

After starting the container, you can use Jupyter Notebook inside the container to view the tutorial_gr2t2.ipynb.

This tutorial uses gr2t2 as an example to introduce the basic usage of Fourier Hardware.

jupyter notebook --allow-root

License

MIT © Fourier

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This repository contains secondary development guidance on Fourier GRX Robot under docker environment provided. The scope of hardware includes robot joints, dexhand and IMU.

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