From 86da41367456459dfa8dc350b1bc762885ab9fa1 Mon Sep 17 00:00:00 2001 From: "Mohsin Ali(MVSK)" Date: Wed, 10 Jun 2026 17:59:35 +0900 Subject: [PATCH 1/4] fix mic gain in the driver level. --- movensys_sample/movensys_robopoly/doc/running.md | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/movensys_sample/movensys_robopoly/doc/running.md b/movensys_sample/movensys_robopoly/doc/running.md index 7837b8c..f13a43c 100644 --- a/movensys_sample/movensys_robopoly/doc/running.md +++ b/movensys_sample/movensys_robopoly/doc/running.md @@ -91,10 +91,16 @@ The flag is **off by default** — the compose file exposes it as a pass-through so just `export` it in the same shell that runs `docker compose`: ```bash -export MOVENSYS_PNP_DRY_RUN=1 +export MOVENSYS_PNP_DRY_RUN=0 cd ~/workspaces/movensys-intelligence/movensys_sample/movensys_robopoly/docker docker compose down -docker compose up +docker compose build +docker compose up -d +``` + +```bash +amixer -c 1 cset numid=4 40 +alsamixer # hardare/driver layer ``` Or as a one-off, inline: @@ -102,4 +108,4 @@ Or as a one-off, inline: ```bash MOVENSYS_PNP_DRY_RUN=1 docker compose -f docker/docker-compose.yml \ up -d --force-recreate -``` \ No newline at end of file +``` From d45169f365afbea668cc15021729f3c0fb41054d Mon Sep 17 00:00:00 2001 From: Noah Hwang Date: Wed, 10 Jun 2026 18:38:25 +0900 Subject: [PATCH 2/4] fix running script --- movensys_sample/doc/run_robopoly.sh | 81 +++++++++++++++++++++-------- 1 file changed, 59 insertions(+), 22 deletions(-) diff --git a/movensys_sample/doc/run_robopoly.sh b/movensys_sample/doc/run_robopoly.sh index 224f16c..376fb29 100755 --- a/movensys_sample/doc/run_robopoly.sh +++ b/movensys_sample/doc/run_robopoly.sh @@ -3,19 +3,21 @@ set -e MODE=${1:-} case "$MODE" in - wmx-ros2|build_nvidia|build_intel|run) ;; + wmx-ros2|build_nvidia|build_intel_vllm|build_intel|run) ;; *) - echo "Usage: $0 {wmx-ros2|build_nvidia|build_intel|run}" >&2 + echo "Usage: $0 {wmx-ros2|build_nvidia|build_intel_vllm|build_intel|run}" >&2 echo " wmx-ros2 Launch the wmx-ros2 manipulator driver (foreground, prompts for sudo)" >&2 echo " build_nvidia Rebuild docker images and start persistent containers (NVIDIA GPU)" >&2 - echo " build_intel Rebuild docker images and start persistent containers (Intel GPU)" >&2 + echo " build_intel_vllm Down all + drop caches + build/run vllm only (Intel GPU)" >&2 + echo " build_intel Build remaining services: vectordb, vlm, whisper, manipulator, robopoly (Intel GPU)" >&2 echo " run Start runtime containers + ROS launches in a tmux session" >&2 echo "" >&2 echo "Recommended order (each in its own terminal):" >&2 echo " Terminal 1: $0 wmx-ros2" >&2 - echo " Terminal 2: $0 build_nvidia (NVIDIA GPU, only when code/images change)" >&2 - echo " Terminal 2: $0 build_intel (Intel GPU, only when code/images change)" >&2 - echo " Terminal 2: $0 run" >&2 + echo " Terminal 2: $0 build_nvidia (NVIDIA GPU, only when code/images change)" >&2 + echo " Terminal 2: $0 build_intel_vllm (Intel GPU, only when code/images change)" >&2 + echo " Terminal 2: $0 build_intel (Intel GPU, after build_intel_vllm)" >&2 + echo " Terminal 3: $0 run" >&2 exit 1 ;; esac @@ -32,9 +34,15 @@ esac # Step 5: vectordb + phoenix + movensys_vlm # Step 6: whisper (en, --force-recreate) # (+ manipulator + robopoly) +# +# Modes: +# build_nvidia Phase A + B + C (Step 4a vllm, then Steps 5-9) +# build_intel_vllm Phase A + B + C (Step 4b vllm only) +# build_intel Steps 5-9 only (run after build_intel_vllm) # ============================================================================ -if [[ "$MODE" == "build_nvidia" || "$MODE" == "build_intel" ]]; then - # ----- Phase A: DOWN everything ------------------------------------------ + +# ----- Phase A: DOWN everything -------------------------------------------- +_build_down() { echo "==> [Phase A] down all containers" echo "all of docker down" @@ -50,24 +58,17 @@ if [[ "$MODE" == "build_nvidia" || "$MODE" == "build_intel" ]]; then cd ~/workspaces/movensys-intelligence/movensys_sample/movensys_robopoly/docker docker compose down - - # ----- Phase B: DROP CACHES ---------------------------------------------- +} + +# ----- Phase B: DROP CACHES ------------------------------------------------ +_build_drop_caches() { echo "==> [Phase B] release memory caches" sync && sudo sysctl vm.drop_caches=3 +} - # ----- Phase C: BUILD + UP sequentially ---------------------------------- - echo "==> [Phase C] build + up sequentially" - +# ----- Phase C, Steps 5-9: remaining services build + up ------------------- +_build_services() { cd ~/workspaces/movensys-intelligence/movensys_vlm/docker - if [[ "$MODE" == "build_nvidia" ]]; then - echo " -- Step 4a: vllm build + up (Nvidia/Thor/B60)" - COMPOSE_PROFILES=$XPU_CORE docker compose -f vllm.yaml build - COMPOSE_PROFILES=$XPU_CORE docker compose -f vllm.yaml up -d - else - echo " -- Step 4b: vllm build + run (Intel Panther Lake)" - ./vllm-intel-build.sh - ./vllm-intel-run.sh - fi echo " -- Step 5: vectordb build + up" COMPOSE_PROFILES=$CPU_ARCH docker compose -f vectordb.yaml build @@ -93,9 +94,45 @@ if [[ "$MODE" == "build_nvidia" || "$MODE" == "build_intel" ]]; then -f "movensys_manipulator.${CPU_ARCH}.yaml" up -d echo " -- Step 9: robopoly build + up" + export MOVENSYS_PNP_DRY_RUN=0 cd ~/workspaces/movensys-intelligence/movensys_sample/movensys_robopoly/docker docker compose build docker compose up -d +} + +if [[ "$MODE" == "build_nvidia" ]]; then + _build_down + _build_drop_caches + + # ----- Phase C: BUILD + UP sequentially ---------------------------------- + echo "==> [Phase C] build + up sequentially" + cd ~/workspaces/movensys-intelligence/movensys_vlm/docker + echo " -- Step 4a: vllm build + up (Nvidia/Thor/B60)" + COMPOSE_PROFILES=$XPU_CORE docker compose -f vllm.yaml build + COMPOSE_PROFILES=$XPU_CORE docker compose -f vllm.yaml up -d + + _build_services + + echo "==> [build] done" + exit 0 +fi + +if [[ "$MODE" == "build_intel_vllm" ]]; then + _build_down + _build_drop_caches + + # ----- Phase C: vllm only ------------------------------------------------ + echo "==> [Phase C] vllm build + up" + cd ~/workspaces/movensys-intelligence/movensys_vlm/docker + echo " -- Step 4b: vllm build + run (Intel Panther Lake)" + ./vllm-intel-build.sh + ./vllm-intel-run.sh +fi + +if [[ "$MODE" == "build_intel" ]]; then + # Steps 5-9 only — run after build_intel_vllm has brought vllm up. + echo "==> [build_intel] build + up remaining services" + _build_services echo "==> [build] done" exit 0 From 64c80f706c3705d8c79c3aa3b51d606585139476 Mon Sep 17 00:00:00 2001 From: Noah Hwang Date: Wed, 10 Jun 2026 18:42:21 +0900 Subject: [PATCH 3/4] update docs --- movensys_sample/doc/1c_robopoly_real.md | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/movensys_sample/doc/1c_robopoly_real.md b/movensys_sample/doc/1c_robopoly_real.md index f1f991e..a4318f2 100644 --- a/movensys_sample/doc/1c_robopoly_real.md +++ b/movensys_sample/doc/1c_robopoly_real.md @@ -2,7 +2,7 @@ ## 1. Execution Procedure ### Step 1: Launch wmx-ros2 (Terminal 1) -``` +```bash cd ~/workspaces/movensys-intelligence/movensys_sample/doc ./run_robopoly.sh wmx-ros2 ``` @@ -11,21 +11,29 @@ cd ~/workspaces/movensys-intelligence/movensys_sample/doc ### Step 2a: Build containers on Nvidia env (Terminal 2) -``` +```bash ./run_robopoly.sh build_nvidia ``` -### Step 2b: Build containers on Intel env (Terminal 2) +### Step 2b-1: Build vllm containers on Intel env (Terminal 2) +```bash +./run_robopoly.sh build_intel_vllm ``` + +### Step 2b-2: Build other containers (Terminal 3) +```bash ./run_robopoly.sh build_intel ``` - - - ### Step 3. Run moveit, containers, yolo (Terminal 3) +- Make sure whether the build process is done. +```bash +docker logs -f movensys_manipulator_container ``` + +- Run the demo +```bash ./run_robopoly.sh run ``` From b619018fe94ed033e2452d452e2959edf3dce5fa Mon Sep 17 00:00:00 2001 From: Noah Seongjin Hwang Date: Thu, 11 Jun 2026 19:42:55 +0900 Subject: [PATCH 4/4] Update running.md @kyoungje I have changed the dry_run mode variable to 1. --- movensys_sample/movensys_robopoly/doc/running.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/movensys_sample/movensys_robopoly/doc/running.md b/movensys_sample/movensys_robopoly/doc/running.md index f13a43c..adf9b09 100644 --- a/movensys_sample/movensys_robopoly/doc/running.md +++ b/movensys_sample/movensys_robopoly/doc/running.md @@ -91,7 +91,7 @@ The flag is **off by default** — the compose file exposes it as a pass-through so just `export` it in the same shell that runs `docker compose`: ```bash -export MOVENSYS_PNP_DRY_RUN=0 +export MOVENSYS_PNP_DRY_RUN=1 cd ~/workspaces/movensys-intelligence/movensys_sample/movensys_robopoly/docker docker compose down docker compose build