krabby-launcher 0.1.0

CLI for installing, updating, and running the Krabby locomotion stack

krabby

CLI for installing, updating, and running the Krabby locomotion stack on a Jetson Orin host.

Install

pip install krabby

Usage

krabby install            # pull mainline-latest, set up udev + dialout
krabby install --image <ref>   # pull a specific tag or digest

krabby update             # re-pull the last installed image
krabby update --image <ref>    # pull a different tag

krabby run                # start the locomotion container
krabby run --image <ref> -- --checkpoint /path/to/ckpt.pt

krabby firmware show      # run krabby-firmware show inside the container
krabby firmware update    # run krabby-firmware update inside the container
krabby firmware <args>    # any krabby-firmware subcommand/flags

krabby --version
krabby --help

Image refs

The default image is pulled from ECR:

632914961627.dkr.ecr.us-east-1.amazonaws.com/krabby-locomotion:mainline-latest

A bare tag (e.g. --image v1.2.3) is expanded to the full ECR URI automatically. Pass a fully-qualified URI to use a different registry entirely.

State

The last installed image ref and digest are recorded at ~/.config/krabby/state.json. krabby update and krabby run read this file when --image is omitted.

GPU

On aarch64 (Jetson) the container is started with --runtime=nvidia. On x86_64 it uses --gpus all.

Firmware pass-through

krabby firmware mounts ~/.cache/krabby-firmware into the container so cached firmware artifacts are shared across runs. Serial devices (/dev/ttyACM*, /dev/ttyUSB*) are passed through automatically via --device.