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Merged
kyoungje merged 4 commits into from
Jun 12, 2026
Merged

Fix/bugs after taipei #42

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86da413
fix mic gain in the driver level.
mohsinarf Jun 10, 2026
d45169f
fix running script
LayNoah Jun 10, 2026
64c80f7
update docs
LayNoah Jun 10, 2026
b619018
Update running.md
LayNoah Jun 11, 2026
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20 changes: 14 additions & 6 deletions movensys_sample/doc/1c_robopoly_real.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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
```
Expand All @@ -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
```

Expand Down
81 changes: 59 additions & 22 deletions movensys_sample/doc/run_robopoly.sh
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Expand Up @@ -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: $0 run" >&2
exit 1
;;
esac
Expand All @@ -32,9 +34,15 @@ esac
# Step 5: vectordb + phoenix + movensys_vlm
# Step 6: whisper (en, --force-recreate)
# (+ manipulator + robopoly)
#
# Modes:
# build_nvidia Phase A + B + C (Step 4a vllm, then Steps 5-9)
# build_intel_vllm Phase A + B + C (Step 4b vllm only)
# build_intel Steps 5-9 only (run after build_intel_vllm)
# ============================================================================
if [[ "$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"
Expand All @@ -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=$CPU_ARCH docker compose -f vectordb.yaml build
Expand All @@ -93,9 +94,45 @@ if [[ "$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
Expand Down
10 changes: 8 additions & 2 deletions movensys_sample/movensys_robopoly/doc/running.md
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Expand Up @@ -94,12 +94,18 @@ so just `export` it in the same shell that runs `docker compose`:
export MOVENSYS_PNP_DRY_RUN=1

@kyoungje kyoungje Jun 11, 2026 •
edited
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this doc is intended to enable the dryrun mode. so 1 is right

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:

```bash
MOVENSYS_PNP_DRY_RUN=1 docker compose -f docker/docker-compose.yml \
up -d --force-recreate
```
```
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