From 6389c1a82bf8a7ba8320b99ae3737fd97c7cb321 Mon Sep 17 00:00:00 2001
From: Shehab Attia <sattia@hello-robot.com>
Date: Thu, 4 Jun 2026 12:51:37 -0400
Subject: [PATCH 1/5] Added a Dockerfile to run stretch_new_robot_install.sh in
 a Docker container. Added a GitHub Action to run on a PR to master

---
 .github/docker/Dockerfile               | 113 +++++++++++++++++++
 .github/docker/README.md                |  60 +++++++++++
 .github/docker/build.sh                 | 109 +++++++++++++++++++
 .github/docker/common.sh                |  58 ++++++++++
 .github/docker/test.sh                  | 138 ++++++++++++++++++++++++
 .github/workflows/test_with_docker.yaml |  58 ++++++++++
 6 files changed, 536 insertions(+)
 create mode 100644 .github/docker/Dockerfile
 create mode 100644 .github/docker/README.md
 create mode 100755 .github/docker/build.sh
 create mode 100755 .github/docker/common.sh
 create mode 100755 .github/docker/test.sh
 create mode 100644 .github/workflows/test_with_docker.yaml

diff --git a/.github/docker/Dockerfile b/.github/docker/Dockerfile
new file mode 100644
index 0000000..3e8b130
--- /dev/null
+++ b/.github/docker/Dockerfile
@@ -0,0 +1,113 @@
+# Dockerfile for Stretch Robot Installation
+# Can be executed in GitHub Actions workflows or manually
+# Usage:
+#   docker build -t stretch-install -f .github/docker/Dockerfile .
+#   docker run --rm stretch-install
+
+FROM ubuntu:22.04
+
+# Prevent interactive prompts during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=UTC
+
+# Set the FLEET_ID environment variable
+# This will be used by the installation scripts
+ARG SETUP_FLEET_ID=stretch-se3-0000
+ENV SETUP_FLEET_ID=${SETUP_FLEET_ID}
+
+# Install basic dependencies required by the installation scripts
+# Including iputils-ping for network connectivity checks and zip for logs packaging
+RUN apt-get update && apt-get install -y \
+    sudo \
+    git \
+    curl \
+    wget \
+    ca-certificates \
+    gnupg \
+    lsb-release \
+    iputils-ping \
+    expect \
+    zip \
+    software-properties-common \
+    && rm -rf /var/lib/apt/lists/*
+
+# Pre-create necessary directories that don't exist by default in basic Docker images
+# Also mock udevadm and update-initramfs which are not useful inside Docker and fail/warn in container environments
+RUN mkdir -p /etc/udev/rules.d /etc/modprobe.d /etc/apt/keyrings && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/sbin/update-initramfs && \
+    chmod +x /usr/sbin/update-initramfs && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/bin/udevadm && \
+    chmod +x /usr/bin/udevadm
+
+# Create a non-root user 'hello-robot' with sudo privileges
+# The installation scripts expect to run as a regular user with sudo access
+RUN useradd -m -s /bin/bash hello-robot && \
+    echo "hello-robot ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Switch to the hello-robot user
+USER hello-robot
+WORKDIR /home/hello-robot
+
+# Clone the stretch_install repository to the container
+# This must be in the home directory as expected by the scripts
+RUN git clone https://github.com/hello-robot/stretch_install /home/hello-robot/stretch_install
+
+# Patch the stretch_initial_setup.sh script to skip git checks and network connectivity checks in Docker
+# This is necessary because:
+# 1. The git remote check won't work in a Docker build context (no .git directory is copied due to .dockerignore)
+# 2. Network connectivity checks (pinging google.com) may fail in some Docker build environments
+RUN cd /home/hello-robot/stretch_install/factory/22.04 && \
+    cp stretch_initial_setup.sh stretch_initial_setup.sh.orig && \
+    sed -i '/^echo "Checking install repo is up-to-date..."/,/^fi$/d' stretch_initial_setup.sh && \
+    sed -i '/^echo "Waiting to get online..."/,/^done$/c\echo "Skipping network check in Docker environment..."' stretch_initial_setup.sh
+
+# Create the calibration data directory structure
+# The installation script expects calibration data in $HOME/<FLEET_ID>
+# For Docker builds, we'll create a minimal structure to satisfy the script
+RUN mkdir -p /home/hello-robot/${SETUP_FLEET_ID}/udev && \
+    echo '# Minimal udev rules for Docker build' > /home/hello-robot/${SETUP_FLEET_ID}/udev/stretch-device.rules && \
+    chmod -R a+r /home/hello-robot/${SETUP_FLEET_ID}
+
+# Pre-create required directories to ensure proper permissions
+RUN mkdir -p /home/hello-robot/stretch_user/log && \
+    mkdir -p /home/hello-robot/stretch_user/debug && \
+    mkdir -p /home/hello-robot/stretch_user/maps && \
+    mkdir -p /home/hello-robot/stretch_user/models && \
+    mkdir -p /home/hello-robot/.local/bin
+
+# Set up error handling for the installation
+# The script already uses 'set -e' and 'set -o pipefail' for error propagation
+# We'll use shell options to ensure any errors cause the build to fail
+SHELL ["/bin/bash", "-e", "-o", "pipefail", "-c"]
+
+# Run the installation script with the FLEET_ID environment variable
+# The -H flag passes the complete fleet ID to the script
+# We redirect stderr to stdout to capture all output
+# The script will exit with non-zero code on failure, causing the build to fail
+RUN cd /home/hello-robot/stretch_install && \
+    bash -c 'yes | ./stretch_new_robot_install.sh -H ${SETUP_FLEET_ID} 2>&1 | tee /home/hello-robot/stretch_user/log/docker_install.log; exit ${PIPESTATUS[0]}'
+
+# Verify that the FLEET_ID was properly configured in both locations
+RUN if [ ! -f /etc/hello-robot/hello-robot.conf ]; then \
+        echo "ERROR: /etc/hello-robot/hello-robot.conf not found"; \
+        exit 1; \
+    fi && \
+    if ! grep -q "HELLO_FLEET_ID=${SETUP_FLEET_ID}" /etc/hello-robot/hello-robot.conf; then \
+        echo "ERROR: FLEET_ID not properly configured in /etc/hello-robot/hello-robot.conf"; \
+        cat /etc/hello-robot/hello-robot.conf; \
+        exit 1; \
+    fi && \
+    if [ ! -d /home/hello-robot/stretch_user/${SETUP_FLEET_ID} ]; then \
+        echo "ERROR: /home/hello-robot/stretch_user/${SETUP_FLEET_ID} directory not found"; \
+        exit 1; \
+    fi && \
+    echo "SUCCESS: FLEET_ID properly configured in all required locations"
+
+# Set the default command to display installation success and fleet ID
+CMD ["/bin/bash", "-c", "echo 'Stretch Robot Installation Complete' && \
+     echo 'Fleet ID: '${SETUP_FLEET_ID} && \
+     echo 'Configuration verified in:' && \
+     echo '  - /etc/hello-robot/hello-robot.conf' && \
+     echo '  - /home/hello-robot/stretch_user/'${SETUP_FLEET_ID} && \
+     /bin/bash"]
+
diff --git a/.github/docker/README.md b/.github/docker/README.md
new file mode 100644
index 0000000..27bc327
--- /dev/null
+++ b/.github/docker/README.md
@@ -0,0 +1,60 @@
+# Docker-Based Stretch Installation Testing
+
+This directory contains utility scripts and configurations for building and testing the Stretch Robot Installation script (`stretch_new_robot_install.sh`) in an isolated Docker container. 
+
+A GitHub Actions workflow is also configured to run these tests automatically on push or pull requests to the `master` branch.
+
+---
+
+## 1. Running Tests Locally
+
+You can run the build and verification steps locally on any system with Docker installed.
+
+### Step A: Build the Docker Image
+The `build.sh` script handles building the Docker image. It accepts a specific robot Fleet ID to mock the calibration and configuration files.
+
+To build the default image (`stretch-install:stretch-se3-0000`):
+```bash
+./.github/docker/build.sh
+```
+
+To build for a specific model (e.g., `stretch-re2-0001`):
+```bash
+./.github/docker/build.sh -f stretch-re2-0001
+```
+
+To build with a custom image name:
+```bash
+./.github/docker/build.sh -f stretch-re2-0001 -n custom-stretch-test
+```
+
+### Step B: Run the Verification Tests
+The `test.sh` script runs a suite of 12 verification checks (e.g., checking configuration files, installed packages, ROS Humble installation, directory structures, and log status) against the built image.
+
+To test the default image:
+```bash
+./.github/docker/test.sh -i stretch-install:stretch-se3-0000
+```
+
+To test a custom-named image:
+```bash
+./.github/docker/test.sh -i custom-stretch-test:stretch-re2-0001
+```
+
+---
+
+## 2. Shared Utilities (`common.sh`)
+Both scripts source [common.sh](./common.sh) for shared configurations:
+* **Color Definitions & Log Handlers**: Provides unified log output styling (`[INFO]`, `[PASS]`, `[FAIL]`, etc.).
+* **Docker Check**: Detects if your user is in the `docker` group and automatically prepends `sudo` to docker commands if root permissions are required.
+
+---
+
+## 3. Automated GitHub Actions Workflow
+The workflow file at [test-installation.yaml](../workflows/test-installation.yaml) runs these same scripts automatically in GitHub Actions for every pull request and push to `master`. 
+
+It uses a matrix strategy to test multiple models (e.g., `stretch-se3-0000` and `stretch-re2-0001`) concurrently:
+1. Checks out the repository.
+2. Sets up Docker Buildx.
+3. Invokes `build.sh` to compile the Docker image.
+4. Invokes `test.sh` to run the verification tests.
diff --git a/.github/docker/build.sh b/.github/docker/build.sh
new file mode 100755
index 0000000..4f14ff0
--- /dev/null
+++ b/.github/docker/build.sh
@@ -0,0 +1,109 @@
+#!/bin/bash
+# Build script for Stretch Robot Installation Docker image
+# This script can be used to build and test the Docker image locally
+
+set -e
+
+# Default values
+FLEET_ID="${FLEET_ID:-stretch-se3-0000}"
+IMAGE_NAME="${IMAGE_NAME:-stretch-install}"
+DOCKERFILE_PATH=".github/docker/Dockerfile"
+BUILD_CONTEXT="."
+
+# Source common utilities
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+if [ -f "$SCRIPT_DIR/common.sh" ]; then
+    source "$SCRIPT_DIR/common.sh"
+else
+    echo "Error: common.sh not found in $SCRIPT_DIR"
+    exit 1
+fi
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -f|--fleet-id)
+            FLEET_ID="$2"
+            shift 2
+            ;;
+        -n|--name)
+            IMAGE_NAME="$2"
+            shift 2
+            ;;
+        -h|--help)
+            echo "Usage: $0 [options]"
+            echo ""
+            echo "Options:"
+            echo "  -f, --fleet-id ID    Set the fleet ID (default: stretch-se3-0000)"
+            echo "  -n, --name NAME      Set the image name (default: stretch-install)"
+            echo "  -h, --help           Display this help message"
+            echo ""
+            echo "Environment Variables:"
+            echo "  FLEET_ID             Set the fleet ID (overridden by -f flag)"
+            echo "  IMAGE_NAME           Set the image name (overridden by -n flag)"
+            echo ""
+            echo "Examples:"
+            echo "  $0"
+            echo "  $0 -f stretch-re2-1234"
+            echo "  $0 -f stretch-se3-0001 -n my-stretch-install"
+            echo "  FLEET_ID=stretch-re2-5678 $0"
+            exit 0
+            ;;
+        *)
+            print_error "Unknown option: $1"
+            echo "Run '$0 --help' for usage information"
+            exit 1
+            ;;
+    esac
+done
+
+# Validate fleet ID format
+if [[ ! $FLEET_ID =~ ^stretch-(re1|re2|se3)-[0-9]{4}$ ]]; then
+    print_error "Invalid fleet ID format: $FLEET_ID"
+    echo "Fleet ID must match the format: stretch-(re1|re2|se3)-XXXX"
+    echo "where XXXX is a 4-digit number"
+    exit 1
+fi
+
+print_info "Building Stretch Robot Installation Docker image"
+print_info "Fleet ID: $FLEET_ID"
+print_info "Image name: $IMAGE_NAME"
+print_info "Dockerfile: $DOCKERFILE_PATH"
+echo ""
+
+# Check if we're in the right directory
+if [ ! -f "$DOCKERFILE_PATH" ]; then
+    print_error "Dockerfile not found at $DOCKERFILE_PATH"
+    print_error "Please run this script from the repository root directory"
+    exit 1
+fi
+
+# Determine if we need to use sudo for docker
+detect_docker
+
+# Build the Docker image
+print_info "Starting Docker build..."
+if $DOCKER_CMD build \
+    --build-arg SETUP_FLEET_ID="$FLEET_ID" \
+    -t "$IMAGE_NAME:$FLEET_ID" \
+    -t "$IMAGE_NAME:latest" \
+    -f "$DOCKERFILE_PATH" \
+    "$BUILD_CONTEXT"; then
+    
+    print_info "Docker build completed successfully!"
+    echo ""
+    print_info "Image tags:"
+    echo "  - $IMAGE_NAME:$FLEET_ID"
+    echo "  - $IMAGE_NAME:latest"
+    echo ""
+    print_info "To run the container:"
+    echo "  docker run -it --rm $IMAGE_NAME:latest"
+    echo ""
+    print_info "To verify the installation:"
+    echo "  docker run --rm $IMAGE_NAME:latest cat /etc/hello-robot/hello-robot.conf"
+    echo ""
+else
+    print_error "Docker build failed!"
+    exit 1
+fi
+
diff --git a/.github/docker/common.sh b/.github/docker/common.sh
new file mode 100755
index 0000000..9258148
--- /dev/null
+++ b/.github/docker/common.sh
@@ -0,0 +1,58 @@
+#!/bin/bash
+# Common utilities for Stretch Robot Docker build and test scripts
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Function to print colored output
+print_info() {
+    echo -e "${BLUE}[INFO]${NC} $1"
+}
+
+print_success() {
+    echo -e "${GREEN}[PASS]${NC} $1"
+}
+
+print_failure() {
+    echo -e "${RED}[FAIL]${NC} $1"
+}
+
+print_error() {
+    echo -e "${RED}[ERROR]${NC} $1"
+}
+
+print_warning() {
+    echo -e "${YELLOW}[WARNING]${NC} $1"
+}
+
+# Unified Docker command/privilege detection
+DOCKER_CMD=""
+detect_docker() {
+    if [ -n "$DOCKER_CMD" ]; then
+        return 0
+    fi
+    
+    DOCKER_CMD="docker"
+    if ! docker ps >/dev/null 2>&1; then
+        # Try with sudo
+        print_warning "Docker requires elevated privileges. Checking with sudo..."
+        if sudo -n docker ps >/dev/null 2>&1; then
+            DOCKER_CMD="sudo docker"
+            print_warning "Using sudo for Docker commands (user not in docker group)"
+        else
+            # Need password for sudo
+            print_warning "Please enter your password for sudo access to Docker"
+            if sudo docker ps >/dev/null 2>&1; then
+                DOCKER_CMD="sudo docker"
+                print_warning "Using sudo for Docker commands (user not in docker group)"
+            else
+                print_error "Docker is not running or not accessible"
+                exit 1
+            fi
+        fi
+    fi
+}
diff --git a/.github/docker/test.sh b/.github/docker/test.sh
new file mode 100755
index 0000000..b0f547e
--- /dev/null
+++ b/.github/docker/test.sh
@@ -0,0 +1,138 @@
+#!/bin/bash
+# Test script for Stretch Robot Installation Docker image
+# This script verifies that the Docker installation completed successfully
+
+set -e
+
+# Default values
+IMAGE_NAME="${IMAGE_NAME:-stretch-install:latest}"
+
+# Source common utilities
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+if [ -f "$SCRIPT_DIR/common.sh" ]; then
+    source "$SCRIPT_DIR/common.sh"
+else
+    echo "Error: common.sh not found in $SCRIPT_DIR"
+    exit 1
+fi
+
+# Test counters
+TESTS_PASSED=0
+TESTS_FAILED=0
+
+# Function to run a test
+run_test() {
+    local test_name="$1"
+    local test_command="$2"
+    
+    print_info "Running test: $test_name"
+    
+    if eval "$test_command"; then
+        print_success "$test_name"
+        ((TESTS_PASSED++))
+        return 0
+    else
+        print_failure "$test_name"
+        ((TESTS_FAILED++))
+        return 1
+    fi
+}
+
+# Parse command line arguments
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -i|--image)
+            IMAGE_NAME="$2"
+            shift 2
+            ;;
+        -h|--help)
+            echo "Usage: $0 [options]"
+            echo ""
+            echo "Options:"
+            echo "  -i, --image NAME     Set the image name to test (default: stretch-install:latest)"
+            echo "  -h, --help           Display this help message"
+            echo ""
+            echo "Examples:"
+            echo "  $0"
+            echo "  $0 -i stretch-install:stretch-se3-0000"
+            exit 0
+            ;;
+        *)
+            print_failure "Unknown option: $1"
+            echo "Run '$0 --help' for usage information"
+            exit 1
+            ;;
+    esac
+done
+
+# Detect docker command
+detect_docker
+
+print_info "Testing Stretch Robot Installation Docker image: $IMAGE_NAME"
+echo ""
+
+# Test 1: Check if image exists
+run_test "Image exists" \
+    "$DOCKER_CMD image inspect $IMAGE_NAME > /dev/null 2>&1"
+
+# Test 2: Check if /etc/hello-robot/hello-robot.conf exists
+run_test "Configuration file exists" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME test -f /etc/hello-robot/hello-robot.conf"
+
+# Test 3: Check if HELLO_FLEET_ID is set in configuration
+run_test "FLEET_ID configured in /etc/hello-robot/hello-robot.conf" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME grep -q 'HELLO_FLEET_ID=' /etc/hello-robot/hello-robot.conf"
+
+# Test 4: Check if stretch_user directory exists
+run_test "stretch_user directory exists" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME test -d /home/hello-robot/stretch_user"
+
+# Test 5: Check if fleet-specific directory exists in stretch_user
+run_test "Fleet-specific directory exists in stretch_user" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME bash -c 'FLEET_ID=\$(grep HELLO_FLEET_ID /etc/hello-robot/hello-robot.conf | cut -d= -f2) && test -d /home/hello-robot/stretch_user/\$FLEET_ID'"
+
+# Test 6: Check if log directory exists
+run_test "Log directory exists" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME test -d /home/hello-robot/stretch_user/log"
+
+# Test 7: Check if installation log was created
+run_test "Installation log exists" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME test -f /home/hello-robot/stretch_user/log/docker_install.log"
+
+# Test 8: Check if Python is installed
+run_test "Python3 is installed" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME which python3"
+
+# Test 9: Check if pip is installed
+run_test "pip3 is installed" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME which pip3"
+
+# Test 10: Check if git is installed
+run_test "git is installed" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME which git"
+
+# Test 11: Check if .bashrc was updated
+run_test ".bashrc contains HELLO_FLEET_ID" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME grep -q 'HELLO_FLEET_ID' /home/hello-robot/.bashrc"
+
+# Test 12: Check if .local/bin directory exists
+run_test ".local/bin directory exists" \
+    "$DOCKER_CMD run --rm $IMAGE_NAME test -d /home/hello-robot/.local/bin"
+
+echo ""
+echo "========================================"
+echo "Test Summary"
+echo "========================================"
+echo -e "${GREEN}Passed:${NC} $TESTS_PASSED"
+echo -e "${RED}Failed:${NC} $TESTS_FAILED"
+echo "Total:  $((TESTS_PASSED + TESTS_FAILED))"
+echo "========================================"
+
+if [ $TESTS_FAILED -eq 0 ]; then
+    print_success "All tests passed!"
+    exit 0
+else
+    print_failure "Some tests failed!"
+    exit 1
+fi
+
diff --git a/.github/workflows/test_with_docker.yaml b/.github/workflows/test_with_docker.yaml
new file mode 100644
index 0000000..9c5a657
--- /dev/null
+++ b/.github/workflows/test_with_docker.yaml
@@ -0,0 +1,58 @@
+name: Run stretch_new_robot_install.sh in a Docker container
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+  workflow_dispatch:  # Allow manual triggering
+
+jobs:
+  test-docker-installation:
+    runs-on: ubuntu-latest
+    timeout-minutes: 120  # Installation can take a while
+    
+    strategy:
+      matrix:
+        fleet_id:
+          - stretch-se3-0000
+          - stretch-re2-0001
+      fail-fast: true  # If False, continue testing other fleet IDs even if one fails
+    
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      
+      - name: Make scripts executable
+        run: |
+          chmod +x .github/docker/build.sh
+          chmod +x .github/docker/test.sh
+
+      - name: Build Docker image
+        run: |
+          ./.github/docker/build.sh -f ${{ matrix.fleet_id }} -n stretch-install-test
+
+      - name: Verify installation
+        run: |
+          ./.github/docker/test.sh -i stretch-install-test:${{ matrix.fleet_id }}
+
+      # - name: Extract logs from container
+      #   if: always()
+      #   run: |
+      #     # Create a temporary container to extract logs
+      #     container_id=$(docker create stretch-install-test:${{ matrix.fleet_id }})
+      #     docker cp $container_id:/home/hello-robot/stretch_user/log /tmp/stretch-logs-${{ matrix.fleet_id }} || true
+      #     docker rm $container_id
+      # 
+      # - name: Upload extracted logs
+      #   if: always()
+      #   uses: actions/upload-artifact@v3
+      #   with:
+      #     name: stretch-installation-logs-${{ matrix.fleet_id }}
+      #     path: /tmp/stretch-logs-${{ matrix.fleet_id }}/
+      #     retention-days: 30
+      #     if-no-files-found: ignore
+

From 7363e7bfc414fc803f33692b3d83936c045358ac Mon Sep 17 00:00:00 2001
From: Shehab Attia <sattia@hello-robot.com>
Date: Thu, 4 Jun 2026 14:29:09 -0400
Subject: [PATCH 2/5] Resolved Dockerfile not building correctly

---
 .github/docker/Dockerfile | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/.github/docker/Dockerfile b/.github/docker/Dockerfile
index 3e8b130..5348829 100644
--- a/.github/docker/Dockerfile
+++ b/.github/docker/Dockerfile
@@ -14,9 +14,11 @@ ENV TZ=UTC
 # This will be used by the installation scripts
 ARG SETUP_FLEET_ID=stretch-se3-0000
 ENV SETUP_FLEET_ID=${SETUP_FLEET_ID}
+ENV USER=hello-robot
 
 # Install basic dependencies required by the installation scripts
 # Including iputils-ping for network connectivity checks and zip for logs packaging
+# Pre-install heavy Python dependencies via apt to avoid compiling them from source
 RUN apt-get update && apt-get install -y \
     sudo \
     git \
@@ -29,6 +31,10 @@ RUN apt-get update && apt-get install -y \
     expect \
     zip \
     software-properties-common \
+    apt-utils \
+    python3-numpy \
+    python3-scipy \
+    python3-yaml \
     && rm -rf /var/lib/apt/lists/*
 
 # Pre-create necessary directories that don't exist by default in basic Docker images
@@ -48,9 +54,9 @@ RUN useradd -m -s /bin/bash hello-robot && \
 USER hello-robot
 WORKDIR /home/hello-robot
 
-# Clone the stretch_install repository to the container
+# Copy the entire stretch_install repository to the container
 # This must be in the home directory as expected by the scripts
-RUN git clone https://github.com/hello-robot/stretch_install /home/hello-robot/stretch_install
+COPY --chown=hello-robot:hello-robot . /home/hello-robot/stretch_install
 
 # Patch the stretch_initial_setup.sh script to skip git checks and network connectivity checks in Docker
 # This is necessary because:
@@ -66,6 +72,8 @@ RUN cd /home/hello-robot/stretch_install/factory/22.04 && \
 # For Docker builds, we'll create a minimal structure to satisfy the script
 RUN mkdir -p /home/hello-robot/${SETUP_FLEET_ID}/udev && \
     echo '# Minimal udev rules for Docker build' > /home/hello-robot/${SETUP_FLEET_ID}/udev/stretch-device.rules && \
+    printf 'robot:\n  batch_name: NA\n  serial_no: "%s"\n  model_name: SE3\n  tool: eoa_wrist_dw3_tool_sg3\n' "${SETUP_FLEET_ID##*-}" > /home/hello-robot/${SETUP_FLEET_ID}/stretch_configuration_params.yaml && \
+    touch /home/hello-robot/${SETUP_FLEET_ID}/stretch_user_params.yaml && \
     chmod -R a+r /home/hello-robot/${SETUP_FLEET_ID}
 
 # Pre-create required directories to ensure proper permissions
@@ -85,7 +93,7 @@ SHELL ["/bin/bash", "-e", "-o", "pipefail", "-c"]
 # We redirect stderr to stdout to capture all output
 # The script will exit with non-zero code on failure, causing the build to fail
 RUN cd /home/hello-robot/stretch_install && \
-    bash -c 'yes | ./stretch_new_robot_install.sh -H ${SETUP_FLEET_ID} 2>&1 | tee /home/hello-robot/stretch_user/log/docker_install.log; exit ${PIPESTATUS[0]}'
+    bash -c 'yes | ./stretch_new_robot_install.sh -H ${SETUP_FLEET_ID} 2>&1 | tee /home/hello-robot/stretch_user/log/docker_install.log; exit ${PIPESTATUS[1]}'
 
 # Verify that the FLEET_ID was properly configured in both locations
 RUN if [ ! -f /etc/hello-robot/hello-robot.conf ]; then \

From 487e44bf5c89cc66f2b2dec8d76fc36f551df68d Mon Sep 17 00:00:00 2001
From: Shehab Attia <sattia@hello-robot.com>
Date: Thu, 4 Jun 2026 14:31:11 -0400
Subject: [PATCH 3/5] Added Dockerfiles for ubuntu 20.04 and 18.04 for RE1 and
 RE2.

---
 .github/docker/Dockerfile.18.04         | 123 ++++++++++++++++++++++++
 .github/docker/Dockerfile.20.04         | 120 +++++++++++++++++++++++
 .github/docker/build.sh                 |   9 ++
 .github/workflows/test_with_docker.yaml |  34 +++----
 4 files changed, 269 insertions(+), 17 deletions(-)
 create mode 100644 .github/docker/Dockerfile.18.04
 create mode 100644 .github/docker/Dockerfile.20.04

diff --git a/.github/docker/Dockerfile.18.04 b/.github/docker/Dockerfile.18.04
new file mode 100644
index 0000000..b615525
--- /dev/null
+++ b/.github/docker/Dockerfile.18.04
@@ -0,0 +1,123 @@
+# Dockerfile for Stretch Robot Installation (Ubuntu 18.04 - RE1)
+# Can be executed in GitHub Actions workflows or manually
+# Usage:
+#   docker build -t stretch-install-18.04 -f .github/docker/Dockerfile.18.04 .
+#   docker run --rm stretch-install-18.04
+
+FROM ubuntu:18.04
+
+# Prevent interactive prompts during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=UTC
+
+# Set the FLEET_ID environment variable
+# This will be used by the installation scripts
+ARG SETUP_FLEET_ID=stretch-re1-0000
+ENV SETUP_FLEET_ID=${SETUP_FLEET_ID}
+ENV USER=hello-robot
+
+# Install basic dependencies required by the installation scripts
+# Including iputils-ping for network connectivity checks and zip for logs packaging
+# Pre-install heavy Python dependencies via apt to avoid compiling them from source
+RUN apt-get update && apt-get install -y \
+    sudo \
+    git \
+    curl \
+    wget \
+    ca-certificates \
+    gnupg \
+    lsb-release \
+    iputils-ping \
+    expect \
+    zip \
+    software-properties-common \
+    apt-utils \
+    python-numpy \
+    python-scipy \
+    python-yaml \
+    python3-numpy \
+    python3-scipy \
+    python3-yaml \
+    && rm -rf /var/lib/apt/lists/*
+
+# Pre-create necessary directories that don't exist by default in basic Docker images
+# Also mock udevadm and update-initramfs which are not useful inside Docker and fail/warn in container environments
+RUN mkdir -p /etc/udev/rules.d /etc/modprobe.d /etc/apt/keyrings && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/sbin/update-initramfs && \
+    chmod +x /usr/sbin/update-initramfs && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/bin/udevadm && \
+    chmod +x /usr/bin/udevadm
+
+# Create a non-root user 'hello-robot' with sudo privileges
+# The installation scripts expect to run as a regular user with sudo access
+RUN useradd -m -s /bin/bash hello-robot && \
+    echo "hello-robot ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Switch to the hello-robot user
+USER hello-robot
+WORKDIR /home/hello-robot
+
+# Copy the entire stretch_install repository to the container
+# This must be in the home directory as expected by the scripts
+COPY --chown=hello-robot:hello-robot . /home/hello-robot/stretch_install
+
+# Patch the stretch_initial_setup.sh script to skip git checks and network connectivity checks in Docker
+# This is necessary because:
+# 1. The git remote check won't work in a Docker build context (no .git directory is copied due to .dockerignore)
+# 2. Network connectivity checks (pinging google.com) may fail in some Docker build environments
+RUN cd /home/hello-robot/stretch_install/factory/18.04 && \
+    cp stretch_initial_setup.sh stretch_initial_setup.sh.orig && \
+    sed -i '/^echo "Checking install repo is up-to-date..."/,/^fi$/d' stretch_initial_setup.sh && \
+    sed -i '/^echo "Waiting to get online..."/,/^done$/c\echo "Skipping network check in Docker environment..."' stretch_initial_setup.sh
+
+# Create the calibration data directory structure
+# The installation script expects calibration data in $HOME/<FLEET_ID>
+# For Docker builds, we'll create a minimal structure to satisfy the script
+RUN mkdir -p /home/hello-robot/${SETUP_FLEET_ID}/udev && \
+    echo '# Minimal udev rules for Docker build' > /home/hello-robot/${SETUP_FLEET_ID}/udev/stretch-device.rules && \
+    printf 'robot:\n  batch_name: NA\n  serial_no: "%s"\n  model_name: RE1\n  tool: eoa_wrist_dw3_tool_sg3\n' "${SETUP_FLEET_ID##*-}" > /home/hello-robot/${SETUP_FLEET_ID}/stretch_configuration_params.yaml && \
+    touch /home/hello-robot/${SETUP_FLEET_ID}/stretch_user_params.yaml && \
+    chmod -R a+r /home/hello-robot/${SETUP_FLEET_ID}
+
+# Pre-create required directories to ensure proper permissions
+RUN mkdir -p /home/hello-robot/stretch_user/log && \
+    mkdir -p /home/hello-robot/stretch_user/debug && \
+    mkdir -p /home/hello-robot/stretch_user/maps && \
+    mkdir -p /home/hello-robot/stretch_user/models && \
+    mkdir -p /home/hello-robot/.local/bin
+
+# Set up error handling for the installation
+# The script already uses 'set -e' and 'set -o pipefail' for error propagation
+# We'll use shell options to ensure any errors cause the build to fail
+SHELL ["/bin/bash", "-e", "-o", "pipefail", "-c"]
+
+# Run the installation script with the FLEET_ID environment variable
+# The -H flag passes the complete fleet ID to the script
+# We redirect stderr to stdout to capture all output
+# The script will exit with non-zero code on failure, causing the build to fail
+RUN cd /home/hello-robot/stretch_install && \
+    bash -c 'yes | ./stretch_new_robot_install.sh -H ${SETUP_FLEET_ID} 2>&1 | tee /home/hello-robot/stretch_user/log/docker_install.log; exit ${PIPESTATUS[1]}'
+
+# Verify that the FLEET_ID was properly configured in both locations
+RUN if [ ! -f /etc/hello-robot/hello-robot.conf ]; then \
+        echo "ERROR: /etc/hello-robot/hello-robot.conf not found"; \
+        exit 1; \
+     fi && \
+     if ! grep -q "HELLO_FLEET_ID=${SETUP_FLEET_ID}" /etc/hello-robot/hello-robot.conf; then \
+        echo "ERROR: FLEET_ID not properly configured in /etc/hello-robot/hello-robot.conf"; \
+        cat /etc/hello-robot/hello-robot.conf; \
+        exit 1; \
+     fi && \
+     if [ ! -d /home/hello-robot/stretch_user/${SETUP_FLEET_ID} ]; then \
+        echo "ERROR: /home/hello-robot/stretch_user/${SETUP_FLEET_ID} directory not found"; \
+        exit 1; \
+     fi && \
+     echo "SUCCESS: FLEET_ID properly configured in all required locations"
+
+# Set the default command to display installation success and fleet ID
+CMD ["/bin/bash", "-c", "echo 'Stretch Robot Installation Complete' && \
+     echo 'Fleet ID: '${SETUP_FLEET_ID} && \
+     echo 'Configuration verified in:' && \
+     echo '  - /etc/hello-robot/hello-robot.conf' && \
+     echo '  - /home/hello-robot/stretch_user/'${SETUP_FLEET_ID} && \
+     /bin/bash"]
diff --git a/.github/docker/Dockerfile.20.04 b/.github/docker/Dockerfile.20.04
new file mode 100644
index 0000000..fed2c32
--- /dev/null
+++ b/.github/docker/Dockerfile.20.04
@@ -0,0 +1,120 @@
+# Dockerfile for Stretch Robot Installation (Ubuntu 20.04 - RE2)
+# Can be executed in GitHub Actions workflows or manually
+# Usage:
+#   docker build -t stretch-install-20.04 -f .github/docker/Dockerfile.20.04 .
+#   docker run --rm stretch-install-20.04
+
+FROM ubuntu:20.04
+
+# Prevent interactive prompts during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=UTC
+
+# Set the FLEET_ID environment variable
+# This will be used by the installation scripts
+ARG SETUP_FLEET_ID=stretch-re2-0000
+ENV SETUP_FLEET_ID=${SETUP_FLEET_ID}
+ENV USER=hello-robot
+
+# Install basic dependencies required by the installation scripts
+# Including iputils-ping for network connectivity checks and zip for logs packaging
+# Pre-install heavy Python dependencies via apt to avoid compiling them from source
+RUN apt-get update && apt-get install -y \
+    sudo \
+    git \
+    curl \
+    wget \
+    ca-certificates \
+    gnupg \
+    lsb-release \
+    iputils-ping \
+    expect \
+    zip \
+    software-properties-common \
+    apt-utils \
+    python3-numpy \
+    python3-scipy \
+    python3-yaml \
+    && rm -rf /var/lib/apt/lists/*
+
+# Pre-create necessary directories that don't exist by default in basic Docker images
+# Also mock udevadm and update-initramfs which are not useful inside Docker and fail/warn in container environments
+RUN mkdir -p /etc/udev/rules.d /etc/modprobe.d /etc/apt/keyrings && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/sbin/update-initramfs && \
+    chmod +x /usr/sbin/update-initramfs && \
+    printf '#!/bin/sh\nexit 0\n' > /usr/bin/udevadm && \
+    chmod +x /usr/bin/udevadm
+
+# Create a non-root user 'hello-robot' with sudo privileges
+# The installation scripts expect to run as a regular user with sudo access
+RUN useradd -m -s /bin/bash hello-robot && \
+    echo "hello-robot ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Switch to the hello-robot user
+USER hello-robot
+WORKDIR /home/hello-robot
+
+# Copy the entire stretch_install repository to the container
+# This must be in the home directory as expected by the scripts
+COPY --chown=hello-robot:hello-robot . /home/hello-robot/stretch_install
+
+# Patch the stretch_initial_setup.sh script to skip git checks and network connectivity checks in Docker
+# This is necessary because:
+# 1. The git remote check won't work in a Docker build context (no .git directory is copied due to .dockerignore)
+# 2. Network connectivity checks (pinging google.com) may fail in some Docker build environments
+RUN cd /home/hello-robot/stretch_install/factory/20.04 && \
+    cp stretch_initial_setup.sh stretch_initial_setup.sh.orig && \
+    sed -i '/^echo "Checking install repo is up-to-date..."/,/^fi$/d' stretch_initial_setup.sh && \
+    sed -i '/^echo "Waiting to get online..."/,/^done$/c\echo "Skipping network check in Docker environment..."' stretch_initial_setup.sh
+
+# Create the calibration data directory structure
+# The installation script expects calibration data in $HOME/<FLEET_ID>
+# For Docker builds, we'll create a minimal structure to satisfy the script
+RUN mkdir -p /home/hello-robot/${SETUP_FLEET_ID}/udev && \
+    echo '# Minimal udev rules for Docker build' > /home/hello-robot/${SETUP_FLEET_ID}/udev/stretch-device.rules && \
+    printf 'robot:\n  batch_name: NA\n  serial_no: "%s"\n  model_name: RE2\n  tool: eoa_wrist_dw3_tool_sg3\n' "${SETUP_FLEET_ID##*-}" > /home/hello-robot/${SETUP_FLEET_ID}/stretch_configuration_params.yaml && \
+    touch /home/hello-robot/${SETUP_FLEET_ID}/stretch_user_params.yaml && \
+    chmod -R a+r /home/hello-robot/${SETUP_FLEET_ID}
+
+# Pre-create required directories to ensure proper permissions
+RUN mkdir -p /home/hello-robot/stretch_user/log && \
+    mkdir -p /home/hello-robot/stretch_user/debug && \
+    mkdir -p /home/hello-robot/stretch_user/maps && \
+    mkdir -p /home/hello-robot/stretch_user/models && \
+    mkdir -p /home/hello-robot/.local/bin
+
+# Set up error handling for the installation
+# The script already uses 'set -e' and 'set -o pipefail' for error propagation
+# We'll use shell options to ensure any errors cause the build to fail
+SHELL ["/bin/bash", "-e", "-o", "pipefail", "-c"]
+
+# Run the installation script with the FLEET_ID environment variable
+# The -H flag passes the complete fleet ID to the script
+# We redirect stderr to stdout to capture all output
+# The script will exit with non-zero code on failure, causing the build to fail
+RUN cd /home/hello-robot/stretch_install && \
+    bash -c 'yes | ./stretch_new_robot_install.sh -H ${SETUP_FLEET_ID} 2>&1 | tee /home/hello-robot/stretch_user/log/docker_install.log; exit ${PIPESTATUS[1]}'
+
+# Verify that the FLEET_ID was properly configured in both locations
+RUN if [ ! -f /etc/hello-robot/hello-robot.conf ]; then \
+        echo "ERROR: /etc/hello-robot/hello-robot.conf not found"; \
+        exit 1; \
+     fi && \
+     if ! grep -q "HELLO_FLEET_ID=${SETUP_FLEET_ID}" /etc/hello-robot/hello-robot.conf; then \
+        echo "ERROR: FLEET_ID not properly configured in /etc/hello-robot/hello-robot.conf"; \
+        cat /etc/hello-robot/hello-robot.conf; \
+        exit 1; \
+     fi && \
+     if [ ! -d /home/hello-robot/stretch_user/${SETUP_FLEET_ID} ]; then \
+        echo "ERROR: /home/hello-robot/stretch_user/${SETUP_FLEET_ID} directory not found"; \
+        exit 1; \
+     fi && \
+     echo "SUCCESS: FLEET_ID properly configured in all required locations"
+
+# Set the default command to display installation success and fleet ID
+CMD ["/bin/bash", "-c", "echo 'Stretch Robot Installation Complete' && \
+     echo 'Fleet ID: '${SETUP_FLEET_ID} && \
+     echo 'Configuration verified in:' && \
+     echo '  - /etc/hello-robot/hello-robot.conf' && \
+     echo '  - /home/hello-robot/stretch_user/'${SETUP_FLEET_ID} && \
+     /bin/bash"]
diff --git a/.github/docker/build.sh b/.github/docker/build.sh
index 4f14ff0..46fdc23 100755
--- a/.github/docker/build.sh
+++ b/.github/docker/build.sh
@@ -65,6 +65,15 @@ if [[ ! $FLEET_ID =~ ^stretch-(re1|re2|se3)-[0-9]{4}$ ]]; then
     exit 1
 fi
 
+# Determine Dockerfile based on FLEET_ID
+if [[ $FLEET_ID =~ ^stretch-re1-[0-9]{4}$ ]]; then
+    DOCKERFILE_PATH=".github/docker/Dockerfile.18.04"
+elif [[ $FLEET_ID =~ ^stretch-re2-[0-9]{4}$ ]]; then
+    DOCKERFILE_PATH=".github/docker/Dockerfile.20.04"
+else
+    DOCKERFILE_PATH=".github/docker/Dockerfile"
+fi
+
 print_info "Building Stretch Robot Installation Docker image"
 print_info "Fleet ID: $FLEET_ID"
 print_info "Image name: $IMAGE_NAME"
diff --git a/.github/workflows/test_with_docker.yaml b/.github/workflows/test_with_docker.yaml
index 9c5a657..b79b551 100644
--- a/.github/workflows/test_with_docker.yaml
+++ b/.github/workflows/test_with_docker.yaml
@@ -17,6 +17,7 @@ jobs:
         fleet_id:
           - stretch-se3-0000
           - stretch-re2-0001
+          - stretch-re1-0000
       fail-fast: true  # If False, continue testing other fleet IDs even if one fails
     
     steps:
@@ -39,20 +40,19 @@ jobs:
         run: |
           ./.github/docker/test.sh -i stretch-install-test:${{ matrix.fleet_id }}
 
-      # - name: Extract logs from container
-      #   if: always()
-      #   run: |
-      #     # Create a temporary container to extract logs
-      #     container_id=$(docker create stretch-install-test:${{ matrix.fleet_id }})
-      #     docker cp $container_id:/home/hello-robot/stretch_user/log /tmp/stretch-logs-${{ matrix.fleet_id }} || true
-      #     docker rm $container_id
-      # 
-      # - name: Upload extracted logs
-      #   if: always()
-      #   uses: actions/upload-artifact@v3
-      #   with:
-      #     name: stretch-installation-logs-${{ matrix.fleet_id }}
-      #     path: /tmp/stretch-logs-${{ matrix.fleet_id }}/
-      #     retention-days: 30
-      #     if-no-files-found: ignore
-
+      - name: Extract logs from container
+        if: always()
+        run: |
+          # Create a temporary container to extract logs
+          container_id=$(docker create stretch-install-test:${{ matrix.fleet_id }})
+          docker cp $container_id:/home/hello-robot/stretch_user/log /tmp/stretch-logs-${{ matrix.fleet_id }} || true
+          docker rm $container_id
+      
+      - name: Upload extracted logs
+        if: always()
+        uses: actions/upload-artifact@v3
+        with:
+          name: stretch-installation-logs-${{ matrix.fleet_id }}
+          path: /tmp/stretch-logs-${{ matrix.fleet_id }}/
+          retention-days: 30
+          if-no-files-found: ignore

From c2cfbbb1af3388a0a7cf53d600114dda2bd65bce Mon Sep 17 00:00:00 2001
From: Shehab Attia <sattia@hello-robot.com>
Date: Thu, 4 Jun 2026 15:12:13 -0400
Subject: [PATCH 4/5] Runs all the tests now

---
 .github/docker/test.sh | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/docker/test.sh b/.github/docker/test.sh
index b0f547e..862b6e3 100755
--- a/.github/docker/test.sh
+++ b/.github/docker/test.sh
@@ -2,8 +2,6 @@
 # Test script for Stretch Robot Installation Docker image
 # This script verifies that the Docker installation completed successfully
 
-set -e
-
 # Default values
 IMAGE_NAME="${IMAGE_NAME:-stretch-install:latest}"
 

From cc4eaf3a260df0b8a96476434b3531833c32c705 Mon Sep 17 00:00:00 2001
From: Shehab Attia <sattia@hello-robot.com>
Date: Thu, 4 Jun 2026 15:17:12 -0400
Subject: [PATCH 5/5] Removed upload artifacts

---
 .github/workflows/test_with_docker.yaml | 30 ++++++++++++-------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/test_with_docker.yaml b/.github/workflows/test_with_docker.yaml
index b79b551..536ae1e 100644
--- a/.github/workflows/test_with_docker.yaml
+++ b/.github/workflows/test_with_docker.yaml
@@ -40,19 +40,19 @@ jobs:
         run: |
           ./.github/docker/test.sh -i stretch-install-test:${{ matrix.fleet_id }}
 
-      - name: Extract logs from container
-        if: always()
-        run: |
-          # Create a temporary container to extract logs
-          container_id=$(docker create stretch-install-test:${{ matrix.fleet_id }})
-          docker cp $container_id:/home/hello-robot/stretch_user/log /tmp/stretch-logs-${{ matrix.fleet_id }} || true
-          docker rm $container_id
+      # - name: Extract logs from container
+      #   if: always()
+      #   run: |
+      #     # Create a temporary container to extract logs
+      #     container_id=$(docker create stretch-install-test:${{ matrix.fleet_id }})
+      #     docker cp $container_id:/home/hello-robot/stretch_user/log /tmp/stretch-logs-${{ matrix.fleet_id }} || true
+      #     docker rm $container_id
       
-      - name: Upload extracted logs
-        if: always()
-        uses: actions/upload-artifact@v3
-        with:
-          name: stretch-installation-logs-${{ matrix.fleet_id }}
-          path: /tmp/stretch-logs-${{ matrix.fleet_id }}/
-          retention-days: 30
-          if-no-files-found: ignore
+      # - name: Upload extracted logs
+      #   if: always()
+      #   uses: actions/upload-artifact@v3
+      #   with:
+      #     name: stretch-installation-logs-${{ matrix.fleet_id }}
+      #     path: /tmp/stretch-logs-${{ matrix.fleet_id }}/
+      #     retention-days: 30
+      #     if-no-files-found: ignore