[Install Log] Ubuntu (x86)
Test on this commit https://github.com/unitreerobotics/xr_teleoperate/commit/c43facb0439d6c9b96798b8f4b899e03bcf3fa9f
Here is the full installation output for your reference. For the simplified version, please refer to the README.
- terminal 1
(base) unitree_user@unitree:~$ conda create -n tv python=3.10 pinocchio=3.1.0 numpy=1.26.4 -c conda-forge
Channels:
- conda-forge
- nvidia
- pytorch
- defaults
Platform: linux-64
Collecting package metadata (repodata.json): done
Solving environment: done
==> WARNING: A newer version of conda exists. <==
current version: 24.3.0
latest version: 25.5.1
Please update conda by running
$ conda update -n base -c conda-forge conda
## Package Plan ##
environment location: /home/unitree_user/miniforge3/envs/tv
added / updated specs:
- numpy=1.26.4
- pinocchio=3.1.0
- python=3.10
The following NEW packages will be INSTALLED:
_libgcc_mutex conda-forge/linux-64::_libgcc_mutex-0.1-conda_forge
_openmp_mutex conda-forge/linux-64::_openmp_mutex-4.5-2_gnu
_x86_64-microarch~ conda-forge/noarch::_x86_64-microarch-level-4-2_x86_64_v4
ampl-asl conda-forge/linux-64::ampl-asl-1.0.0-h5888daf_2
assimp conda-forge/linux-64::assimp-5.4.2-he2e0bbc_1
bzip2 conda-forge/linux-64::bzip2-1.0.8-h4bc722e_7
ca-certificates conda-forge/noarch::ca-certificates-2025.6.15-hbd8a1cb_0
casadi conda-forge/linux-64::casadi-3.6.7-py310h45b02c1_5
console_bridge conda-forge/linux-64::console_bridge-1.0.2-h924138e_1
eigen conda-forge/linux-64::eigen-3.4.0-h00ab1b0_0
eigenpy conda-forge/linux-64::eigenpy-3.8.0-py310hff9a374_0
hpp-fcl conda-forge/linux-64::hpp-fcl-2.4.5-py310h89901e3_2
icu conda-forge/linux-64::icu-75.1-he02047a_0
ipopt conda-forge/linux-64::ipopt-3.14.17-h7fd866c_2
ld_impl_linux-64 conda-forge/linux-64::ld_impl_linux-64-2.44-h1423503_0
libblas conda-forge/linux-64::libblas-3.9.0-32_h59b9bed_openblas
libblasfeo conda-forge/linux-64::libblasfeo-0.1.4.2-had105d5_300
libboost conda-forge/linux-64::libboost-1.86.0-h6c02f8c_3
libboost-devel conda-forge/linux-64::libboost-devel-1.86.0-h1a2810e_3
libboost-headers conda-forge/linux-64::libboost-headers-1.86.0-ha770c72_3
libboost-python conda-forge/linux-64::libboost-python-1.86.0-py310ha2bacc8_3
libboost-python-d~ conda-forge/linux-64::libboost-python-devel-1.86.0-py310hb7f781d_3
libcblas conda-forge/linux-64::libcblas-3.9.0-32_he106b2a_openblas
libexpat conda-forge/linux-64::libexpat-2.7.0-h5888daf_0
libfatrop conda-forge/linux-64::libfatrop-0.0.4-h5888daf_1
libffi conda-forge/linux-64::libffi-3.4.6-h2dba641_1
libgcc conda-forge/linux-64::libgcc-15.1.0-h767d61c_3
libgcc-ng conda-forge/linux-64::libgcc-ng-15.1.0-h69a702a_3
libgfortran conda-forge/linux-64::libgfortran-15.1.0-h69a702a_3
libgfortran-ng conda-forge/linux-64::libgfortran-ng-15.1.0-h69a702a_3
libgfortran5 conda-forge/linux-64::libgfortran5-15.1.0-hcea5267_3
libgomp conda-forge/linux-64::libgomp-15.1.0-h767d61c_3
libhwloc conda-forge/linux-64::libhwloc-2.11.2-default_h0d58e46_1001
libiconv conda-forge/linux-64::libiconv-1.18-h4ce23a2_1
liblapack conda-forge/linux-64::liblapack-3.9.0-32_h7ac8fdf_openblas
liblzma conda-forge/linux-64::liblzma-5.8.1-hb9d3cd8_2
liblzma-devel conda-forge/linux-64::liblzma-devel-5.8.1-hb9d3cd8_2
libnsl conda-forge/linux-64::libnsl-2.0.1-hb9d3cd8_1
libopenblas conda-forge/linux-64::libopenblas-0.3.30-pthreads_h94d23a6_0
libosqp conda-forge/linux-64::libosqp-0.6.3-h5888daf_1
libqdldl conda-forge/linux-64::libqdldl-0.1.7-hcb278e6_0
libscotch conda-forge/linux-64::libscotch-7.0.4-h2fe6a88_5
libspral conda-forge/linux-64::libspral-2025.03.06-h39c1cf3_0
libsqlite conda-forge/linux-64::libsqlite-3.50.2-h6cd9bfd_0
libstdcxx conda-forge/linux-64::libstdcxx-15.1.0-h8f9b012_3
libstdcxx-ng conda-forge/linux-64::libstdcxx-ng-15.1.0-h4852527_3
libuuid conda-forge/linux-64::libuuid-2.38.1-h0b41bf4_0
libxcrypt conda-forge/linux-64::libxcrypt-4.4.36-hd590300_1
libxml2 conda-forge/linux-64::libxml2-2.13.8-h4bc477f_0
libzlib conda-forge/linux-64::libzlib-1.3.1-hb9d3cd8_2
metis conda-forge/linux-64::metis-5.1.0-hd0bcaf9_1007
mumps-include conda-forge/linux-64::mumps-include-5.7.3-h82cca05_10
mumps-seq conda-forge/linux-64::mumps-seq-5.7.3-h27a6a8b_0
ncurses conda-forge/linux-64::ncurses-6.5-h2d0b736_3
numpy conda-forge/linux-64::numpy-1.26.4-py310hb13e2d6_0
octomap conda-forge/linux-64::octomap-1.9.8-h924138e_0
openssl conda-forge/linux-64::openssl-3.5.1-h7b32b05_0
pinocchio conda-forge/linux-64::pinocchio-3.1.0-py310h4a8bb0c_2
pip conda-forge/noarch::pip-25.1.1-pyh8b19718_0
proxsuite conda-forge/linux-64::proxsuite-0.7.2-py310h3788b33_1
python conda-forge/linux-64::python-3.10.18-hd6af730_0_cpython
python_abi conda-forge/noarch::python_abi-3.10-7_cp310
qhull conda-forge/linux-64::qhull-2020.2-h434a139_5
qhull-static conda-forge/linux-64::qhull-static-2020.2-h434a139_5
readline conda-forge/linux-64::readline-8.2-h8c095d6_2
scipy conda-forge/linux-64::scipy-1.15.2-py310h1d65ade_0
setuptools conda-forge/noarch::setuptools-80.9.0-pyhff2d567_0
simde conda-forge/linux-64::simde-0.8.2-h84d6215_0
tinyxml2 conda-forge/linux-64::tinyxml2-10.0.0-h3f2d84a_2
tk conda-forge/linux-64::tk-8.6.13-noxft_hd72426e_102
tzdata conda-forge/noarch::tzdata-2025b-h78e105d_0
urdfdom conda-forge/linux-64::urdfdom-4.0.1-h2e5d1f2_2
urdfdom_headers conda-forge/linux-64::urdfdom_headers-1.1.2-h84d6215_0
wheel conda-forge/noarch::wheel-0.45.1-pyhd8ed1ab_1
xz conda-forge/linux-64::xz-5.8.1-hbcc6ac9_2
xz-gpl-tools conda-forge/linux-64::xz-gpl-tools-5.8.1-hbcc6ac9_2
xz-tools conda-forge/linux-64::xz-tools-5.8.1-hb9d3cd8_2
zlib conda-forge/linux-64::zlib-1.3.1-hb9d3cd8_2
zstd conda-forge/linux-64::zstd-1.5.7-hb8e6e7a_2
Proceed ([y]/n)? y
Downloading and Extracting Packages:
Preparing transaction: done
Verifying transaction: done
Executing transaction: done
#
# To activate this environment, use
#
# $ conda activate tv
#
# To deactivate an active environment, use
#
# $ conda deactivate
(base) unitree_user@unitree:~$ conda activate tv
(tv) unitree_user@unitree:~$ git clone https://github.com/unitreerobotics/xr_teleoperate.git
Cloning into 'xr_teleoperate'...
remote: Enumerating objects: 1054, done.
remote: Counting objects: 100% (370/370), done.
remote: Compressing objects: 100% (119/119), done.
remote: Total 1054 (delta 282), reused 274 (delta 251), pack-reused 684 (from 2)
Receiving objects: 100% (1054/1054), 142.57 MiB | 18.31 MiB/s, done.
Resolving deltas: 100% (498/498), done.
(tv) unitree_user@unitree:~$ cd xr_teleoperate
(tv) unitree_user@unitree:~/xr_teleoperate$ git submodule update --init --depth 1
Submodule 'teleop/robot_control/dex-retargeting' (https://github.com/silencht/dex-retargeting) registered for path 'teleop/robot_control/dex-retargeting'
Submodule 'teleop/televuer' (https://github.com/silencht/televuer) registered for path 'teleop/televuer'
Cloning into '/home/unitree_user/xr_teleoperate/teleop/robot_control/dex-retargeting'...
Cloning into '/home/unitree_user/xr_teleoperate/teleop/televuer'...
Submodule path 'teleop/robot_control/dex-retargeting': checked out 'd7753d38c9ff11f80bafea6cd168351fd3db9b0e'
Submodule path 'teleop/televuer': checked out '34f4475fca12166d2c52f2469385a851f614fd4e'
(tv) unitree_user@unitree:~/xr_teleoperate$ cd teleop/televuer
(tv) unitree_user@unitree:~/xr_teleoperate/teleop/televuer$ pip install -e .
Obtaining file:///home/unitree_user/xr_teleoperate/teleop/televuer
Installing build dependencies ... done
Checking if build backend supports build_editable ... done
Getting requirements to build editable ... done
Preparing editable metadata (pyproject.toml) ... done
Requirement already satisfied: numpy<2.0.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from televuer==0.0.3) (1.26.4)
Collecting opencv-python (from televuer==0.0.3)
Downloading opencv_python-4.12.0.88-cp37-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (19 kB)
Collecting logging-mp (from televuer==0.0.3)
Using cached logging_mp-0.1.5-py3-none-any.whl.metadata (3.0 kB)
Collecting vuer==0.0.60 (from vuer[all]==0.0.60->televuer==0.0.3)
Using cached vuer-0.0.60-py3-none-any.whl.metadata (5.8 kB)
Collecting params-proto>=2.13.0 (from vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached params_proto-2.13.2-py3-none-any.whl.metadata (8.7 kB)
Collecting pillow (from vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached pillow-11.3.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.metadata (9.0 kB)
Collecting msgpack (from vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached msgpack-1.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (8.4 kB)
Collecting websockets (from vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached websockets-15.0.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (6.8 kB)
Collecting aiohttp==3.10.5 (from vuer[all]==0.0.60->televuer==0.0.3)
Using cached aiohttp-3.10.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (7.5 kB)
Collecting aiohttp-cors (from vuer[all]==0.0.60->televuer==0.0.3)
Using cached aiohttp_cors-0.8.1-py3-none-any.whl.metadata (20 kB)
Collecting killport (from vuer[all]==0.0.60->televuer==0.0.3)
Using cached killport-1.2.0-py3-none-any.whl.metadata (1.4 kB)
Collecting aiohappyeyeballs>=2.3.0 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached aiohappyeyeballs-2.6.1-py3-none-any.whl.metadata (5.9 kB)
Collecting aiosignal>=1.1.2 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached aiosignal-1.4.0-py3-none-any.whl.metadata (3.7 kB)
Collecting attrs>=17.3.0 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached attrs-25.3.0-py3-none-any.whl.metadata (10 kB)
Collecting frozenlist>=1.1.1 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached frozenlist-1.7.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (18 kB)
Collecting multidict<7.0,>=4.5 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached multidict-6.6.3-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl.metadata (5.3 kB)
Collecting yarl<2.0,>=1.0 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached yarl-1.20.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (73 kB)
Collecting async-timeout<5.0,>=4.0 (from aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached async_timeout-4.0.3-py3-none-any.whl.metadata (4.2 kB)
Collecting typing-extensions>=4.1.0 (from multidict<7.0,>=4.5->aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached typing_extensions-4.14.1-py3-none-any.whl.metadata (3.0 kB)
Collecting idna>=2.0 (from yarl<2.0,>=1.0->aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached idna-3.10-py3-none-any.whl.metadata (10 kB)
Collecting propcache>=0.2.1 (from yarl<2.0,>=1.0->aiohttp==3.10.5->vuer[all]==0.0.60->televuer==0.0.3)
Using cached propcache-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (12 kB)
Collecting waterbear>=2.6.8 (from params-proto>=2.13.0->vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached waterbear-2.6.8-py3-none-any.whl.metadata (9.8 kB)
Collecting argparse (from params-proto>=2.13.0->vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached argparse-1.4.0-py2.py3-none-any.whl.metadata (2.8 kB)
Collecting argcomplete (from params-proto>=2.13.0->vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached argcomplete-3.6.2-py3-none-any.whl.metadata (16 kB)
Collecting expandvars (from params-proto>=2.13.0->vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached expandvars-1.0.0-py3-none-any.whl.metadata (6.0 kB)
Collecting termcolor (from params-proto>=2.13.0->vuer==0.0.60->vuer[all]==0.0.60->televuer==0.0.3)
Using cached termcolor-3.1.0-py3-none-any.whl.metadata (6.4 kB)
Collecting psutil (from killport->vuer[all]==0.0.60->televuer==0.0.3)
Using cached psutil-7.0.0-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (22 kB)
Collecting rich>=13.0 (from logging-mp->televuer==0.0.3)
Using cached rich-14.0.0-py3-none-any.whl.metadata (18 kB)
Collecting markdown-it-py>=2.2.0 (from rich>=13.0->logging-mp->televuer==0.0.3)
Using cached markdown_it_py-3.0.0-py3-none-any.whl.metadata (6.9 kB)
Collecting pygments<3.0.0,>=2.13.0 (from rich>=13.0->logging-mp->televuer==0.0.3)
Using cached pygments-2.19.2-py3-none-any.whl.metadata (2.5 kB)
Collecting mdurl~=0.1 (from markdown-it-py>=2.2.0->rich>=13.0->logging-mp->televuer==0.0.3)
Using cached mdurl-0.1.2-py3-none-any.whl.metadata (1.6 kB)
INFO: pip is looking at multiple versions of opencv-python to determine which version is compatible with other requirements. This could take a while.
Collecting opencv-python (from televuer==0.0.3)
Using cached opencv_python-4.11.0.86-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (20 kB)
Using cached vuer-0.0.60-py3-none-any.whl (30.8 MB)
Using cached aiohttp-3.10.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (1.2 MB)
Using cached async_timeout-4.0.3-py3-none-any.whl (5.7 kB)
Using cached multidict-6.6.3-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl (241 kB)
Using cached yarl-1.20.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (326 kB)
Using cached aiohappyeyeballs-2.6.1-py3-none-any.whl (15 kB)
Using cached aiosignal-1.4.0-py3-none-any.whl (7.5 kB)
Using cached attrs-25.3.0-py3-none-any.whl (63 kB)
Using cached frozenlist-1.7.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (222 kB)
Using cached idna-3.10-py3-none-any.whl (70 kB)
Using cached params_proto-2.13.2-py3-none-any.whl (22 kB)
Using cached propcache-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (198 kB)
Using cached typing_extensions-4.14.1-py3-none-any.whl (43 kB)
Using cached waterbear-2.6.8-py3-none-any.whl (9.8 kB)
Using cached aiohttp_cors-0.8.1-py3-none-any.whl (25 kB)
Using cached argcomplete-3.6.2-py3-none-any.whl (43 kB)
Using cached argparse-1.4.0-py2.py3-none-any.whl (23 kB)
Using cached expandvars-1.0.0-py3-none-any.whl (7.4 kB)
Using cached killport-1.2.0-py3-none-any.whl (3.4 kB)
Using cached logging_mp-0.1.5-py3-none-any.whl (3.5 kB)
Using cached rich-14.0.0-py3-none-any.whl (243 kB)
Using cached pygments-2.19.2-py3-none-any.whl (1.2 MB)
Using cached markdown_it_py-3.0.0-py3-none-any.whl (87 kB)
Using cached mdurl-0.1.2-py3-none-any.whl (10.0 kB)
Using cached msgpack-1.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (408 kB)
Using cached opencv_python-4.11.0.86-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (63.0 MB)
Using cached pillow-11.3.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (6.6 MB)
Using cached psutil-7.0.0-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (277 kB)
Using cached termcolor-3.1.0-py3-none-any.whl (7.7 kB)
Using cached websockets-15.0.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (181 kB)
Building wheels for collected packages: televuer
Building editable for televuer (pyproject.toml) ... done
Created wheel for televuer: filename=televuer-0.0.3-0.editable-py3-none-any.whl size=2219 sha256=c4eccf2f255f548af2db79c4ba3521a87deafc1497920f9f6ecf984bcb7bcb70
Stored in directory: /tmp/pip-ephem-wheel-cache-s5m8wup4/wheels/35/9e/fd/28b8a4387e7be055c093b8dfa40f9520df332fa7f40efdb004
Successfully built televuer
Installing collected packages: waterbear, argparse, websockets, typing-extensions, termcolor, pygments, psutil, propcache, pillow, opencv-python, msgpack, mdurl, idna, frozenlist, expandvars, attrs, async-timeout, argcomplete, aiohappyeyeballs, params-proto, multidict, markdown-it-py, killport, aiosignal, yarl, vuer, rich, logging-mp, aiohttp, aiohttp-cors, televuer
Successfully installed aiohappyeyeballs-2.6.1 aiohttp-3.10.5 aiohttp-cors-0.8.1 aiosignal-1.4.0 argcomplete-3.6.2 argparse-1.4.0 async-timeout-4.0.3 attrs-25.3.0 expandvars-1.0.0 frozenlist-1.7.0 idna-3.10 killport-1.2.0 logging-mp-0.1.5 markdown-it-py-3.0.0 mdurl-0.1.2 msgpack-1.1.1 multidict-6.6.3 opencv-python-4.11.0.86 params-proto-2.13.2 pillow-11.3.0 propcache-0.3.2 psutil-7.0.0 pygments-2.19.2 rich-14.0.0 televuer-0.0.3 termcolor-3.1.0 typing-extensions-4.14.1 vuer-0.0.60 waterbear-2.6.8 websockets-15.0.1 yarl-1.20.1
(tv) unitree_user@unitree:~/xr_teleoperate/teleop/televuer$ openssl req -x509 -nodes -days 365 -newkey rsa:2048 -keyout key.pem -out cert.pem
...+.......+..+...+.........+....+.....+.+++++++++++++++++++++++++++++++++++++++*.....................+...+++++++++++++++++++++++++++++++++++++++*.+............+.........+...+...+....+...+.....+......+.+.....+..........+.....+.+..+.......+......+..+......+.+.........+.....+.......+...+...........+....+..+.......+...........+......+.+........+.+..............+......+...+..........+...+............+.....+..........+.....+.+.....+.+...+.....+......+................+......+........+.....................+......+.........+.+..............+....+..+..........+.....+....+........+.+.....+.+.........+.....+.+...+.....+..........+..+.............+...+..+..........+..+.........+....+......+..+..................+......+..........+...+..+...................+...........+.+..............+..........+...+.....+.......+...++++++
....+........+.+.....+.........+++++++++++++++++++++++++++++++++++++++*.+.........+.+...+..+.........+....+.........+.....+...+...+.+...+.....+...+.......+...+..+++++++++++++++++++++++++++++++++++++++*...............+....+...+..............+.+..+......+.......+.....+...+....+........+.......+..+....+.........+......+............+..+.+.....+......+...+.+.....+.+..........................+...+.+...+..+.............+...+..+.......+........+...+...+.........+.+..+....+........+......+.+......+........+......+.+.....+.......+...........+......+.+...+.................+.......+.....+.+.....+....+.....+.+...........+......+....+.....+.+.....++++++
-----
You are about to be asked to enter information that will be incorporated
into your certificate request.
What you are about to enter is what is called a Distinguished Name or a DN.
There are quite a few fields but you can leave some blank
For some fields there will be a default value,
If you enter '.', the field will be left blank.
-----
Country Name (2 letter code) [AU]:CN
State or Province Name (full name) [Some-State]:
Locality Name (eg, city) []:
Organization Name (eg, company) [Internet Widgits Pty Ltd]:
Organizational Unit Name (eg, section) []:
Common Name (e.g. server FQDN or YOUR name) []:
Email Address []:
(tv) unitree_user@unitree:~/xr_teleoperate/teleop/televuer$ cd ../robot_control/dex-retargeting/
(tv) unitree_user@unitree:~/xr_teleoperate/teleop/robot_control/dex-retargeting$ pip install -e .
Obtaining file:///home/unitree_user/xr_teleoperate/teleop/robot_control/dex-retargeting
Installing build dependencies ... done
Checking if build backend supports build_editable ... done
Getting requirements to build editable ... done
Preparing editable metadata (pyproject.toml) ... done
Requirement already satisfied: numpy<2.0.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from dex_retargeting==0.4.7) (1.26.4)
Collecting torch==2.3.0 (from dex_retargeting==0.4.7)
Using cached torch-2.3.0-cp310-cp310-manylinux1_x86_64.whl.metadata (26 kB)
Collecting pytransform3d>=3.5.0 (from dex_retargeting==0.4.7)
Using cached pytransform3d-3.14.2-py3-none-any.whl.metadata (10 kB)
Collecting pin>=2.7.0 (from dex_retargeting==0.4.7)
Using cached pin-3.7.0-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (24 kB)
Collecting nlopt<2.8.0,>=2.6.1 (from dex_retargeting==0.4.7)
Using cached nlopt-2.7.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (2.1 kB)
Collecting trimesh>=4.4.0 (from dex_retargeting==0.4.7)
Using cached trimesh-4.6.13-py3-none-any.whl.metadata (18 kB)
Collecting anytree>=2.12.0 (from dex_retargeting==0.4.7)
Using cached anytree-2.13.0-py3-none-any.whl.metadata (8.0 kB)
Collecting pyyaml>=6.0.0 (from dex_retargeting==0.4.7)
Using cached PyYAML-6.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (2.1 kB)
Collecting lxml>=5.2.2 (from dex_retargeting==0.4.7)
Using cached lxml-6.0.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.metadata (6.6 kB)
Collecting filelock (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached filelock-3.18.0-py3-none-any.whl.metadata (2.9 kB)
Requirement already satisfied: typing-extensions>=4.8.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from torch==2.3.0->dex_retargeting==0.4.7) (4.14.1)
Collecting sympy (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached sympy-1.14.0-py3-none-any.whl.metadata (12 kB)
Collecting networkx (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached networkx-3.4.2-py3-none-any.whl.metadata (6.3 kB)
Collecting jinja2 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached jinja2-3.1.6-py3-none-any.whl.metadata (2.9 kB)
Collecting fsspec (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached fsspec-2025.5.1-py3-none-any.whl.metadata (11 kB)
Collecting nvidia-cuda-nvrtc-cu12==12.1.105 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cuda_nvrtc_cu12-12.1.105-py3-none-manylinux1_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-cuda-runtime-cu12==12.1.105 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cuda_runtime_cu12-12.1.105-py3-none-manylinux1_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-cuda-cupti-cu12==12.1.105 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cuda_cupti_cu12-12.1.105-py3-none-manylinux1_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-cudnn-cu12==8.9.2.26 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cudnn_cu12-8.9.2.26-py3-none-manylinux1_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-cublas-cu12==12.1.3.1 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cublas_cu12-12.1.3.1-py3-none-manylinux1_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-cufft-cu12==11.0.2.54 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cufft_cu12-11.0.2.54-py3-none-manylinux1_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-curand-cu12==10.3.2.106 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_curand_cu12-10.3.2.106-py3-none-manylinux1_x86_64.whl.metadata (1.5 kB)
Collecting nvidia-cusolver-cu12==11.4.5.107 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cusolver_cu12-11.4.5.107-py3-none-manylinux1_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-cusparse-cu12==12.1.0.106 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_cusparse_cu12-12.1.0.106-py3-none-manylinux1_x86_64.whl.metadata (1.6 kB)
Collecting nvidia-nccl-cu12==2.20.5 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_x86_64.whl.metadata (1.8 kB)
Collecting nvidia-nvtx-cu12==12.1.105 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_nvtx_cu12-12.1.105-py3-none-manylinux1_x86_64.whl.metadata (1.7 kB)
Collecting triton==2.3.0 (from torch==2.3.0->dex_retargeting==0.4.7)
Using cached triton-2.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (1.4 kB)
Collecting nvidia-nvjitlink-cu12 (from nvidia-cusolver-cu12==11.4.5.107->torch==2.3.0->dex_retargeting==0.4.7)
Using cached nvidia_nvjitlink_cu12-12.9.86-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl.metadata (1.7 kB)
Collecting cmeel (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel-0.57.3-py3-none-any.whl.metadata (4.7 kB)
Collecting cmeel-boost~=1.87.0 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_boost-1.87.0.1-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (1.0 kB)
Collecting cmeel-urdfdom>=4 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_urdfdom-4.0.1-1-py3-none-manylinux_2_28_x86_64.whl.metadata (2.7 kB)
Collecting coal<4,>=3 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached coal-3.0.1-1-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (14 kB)
INFO: pip is looking at multiple versions of cmeel-boost to determine which version is compatible with other requirements. This could take a while.
Collecting pin>=2.7.0 (from dex_retargeting==0.4.7)
Using cached pin-3.4.0-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (24 kB)
Collecting coal-library<4,>=3 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached coal_library-3.0.1-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (14 kB)
Collecting pin>=2.7.0 (from dex_retargeting==0.4.7)
Using cached pin-3.3.1-1-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (24 kB)
Collecting cmeel-urdfdom<4,>=3.1.1.1 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_urdfdom-3.1.1.1-0-py3-none-manylinux_2_28_x86_64.whl.metadata (2.8 kB)
Collecting pin>=2.7.0 (from dex_retargeting==0.4.7)
Using cached pin-2.7.0-2-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (20 kB)
Collecting cmeel-boost~=1.83.0 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_boost-1.83.0-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (1000 bytes)
Collecting hpp-fcl<4,>=2.3.4 (from pin>=2.7.0->dex_retargeting==0.4.7)
Using cached hpp_fcl-2.4.4-3-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (5.8 kB)
Collecting cmeel-console-bridge (from cmeel-urdfdom<4,>=3.1.1.1->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_console_bridge-1.0.2.3-0-py3-none-manylinux_2_28_x86_64.whl.metadata (1.0 kB)
Collecting cmeel-tinyxml (from cmeel-urdfdom<4,>=3.1.1.1->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_tinyxml-2.6.2.3-0-py3-none-manylinux_2_28_x86_64.whl.metadata (389 bytes)
Collecting cmeel-assimp<6,>=5.3.1 (from hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_assimp-5.4.3.1-0-py3-none-manylinux_2_28_x86_64.whl.metadata (968 bytes)
Collecting cmeel-octomap<2,>=1.9.8.2 (from hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_octomap-1.10.0-5-py3-none-manylinux_2_28_x86_64.whl.metadata (983 bytes)
Collecting cmeel-qhull<8.0.3,>=8.0.2.1 (from hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_qhull-8.0.2.1-1-py3-none-manylinux_2_28_x86_64.whl.metadata (838 bytes)
Collecting eigenpy<4,>=3.1 (from hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached eigenpy-3.10.3-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (5.3 kB)
Collecting cmeel-zlib (from cmeel-assimp<6,>=5.3.1->hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached cmeel_zlib-1.3.1-0-py3-none-manylinux_2_28_x86_64.whl.metadata (706 bytes)
INFO: pip is looking at multiple versions of eigenpy to determine which version is compatible with other requirements. This could take a while.
Collecting eigenpy<4,>=3.1 (from hpp-fcl<4,>=2.3.4->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached eigenpy-3.10.1-1-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (6.1 kB)
Using cached eigenpy-3.5.1-0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (5.0 kB)
Requirement already satisfied: scipy in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from pytransform3d>=3.5.0->dex_retargeting==0.4.7) (1.15.2)
Collecting matplotlib (from pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached matplotlib-3.10.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (11 kB)
Collecting tomli>=2.1.0 (from cmeel->pin>=2.7.0->dex_retargeting==0.4.7)
Using cached tomli-2.2.1-py3-none-any.whl.metadata (10 kB)
Collecting MarkupSafe>=2.0 (from jinja2->torch==2.3.0->dex_retargeting==0.4.7)
Using cached MarkupSafe-3.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (4.0 kB)
Collecting contourpy>=1.0.1 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached contourpy-1.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (5.5 kB)
Collecting cycler>=0.10 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached cycler-0.12.1-py3-none-any.whl.metadata (3.8 kB)
Collecting fonttools>=4.22.0 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached fonttools-4.58.5-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.metadata (106 kB)
Collecting kiwisolver>=1.3.1 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached kiwisolver-1.4.8-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl.metadata (6.2 kB)
Collecting packaging>=20.0 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached packaging-25.0-py3-none-any.whl.metadata (3.3 kB)
Requirement already satisfied: pillow>=8 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7) (11.3.0)
Collecting pyparsing>=2.3.1 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached pyparsing-3.2.3-py3-none-any.whl.metadata (5.0 kB)
Collecting python-dateutil>=2.7 (from matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached python_dateutil-2.9.0.post0-py2.py3-none-any.whl.metadata (8.4 kB)
Collecting six>=1.5 (from python-dateutil>=2.7->matplotlib->pytransform3d>=3.5.0->dex_retargeting==0.4.7)
Using cached six-1.17.0-py2.py3-none-any.whl.metadata (1.7 kB)
Collecting mpmath<1.4,>=1.1.0 (from sympy->torch==2.3.0->dex_retargeting==0.4.7)
Using cached mpmath-1.3.0-py3-none-any.whl.metadata (8.6 kB)
Using cached torch-2.3.0-cp310-cp310-manylinux1_x86_64.whl (779.1 MB)
Using cached nvidia_cublas_cu12-12.1.3.1-py3-none-manylinux1_x86_64.whl (410.6 MB)
Using cached nvidia_cuda_cupti_cu12-12.1.105-py3-none-manylinux1_x86_64.whl (14.1 MB)
Using cached nvidia_cuda_nvrtc_cu12-12.1.105-py3-none-manylinux1_x86_64.whl (23.7 MB)
Using cached nvidia_cuda_runtime_cu12-12.1.105-py3-none-manylinux1_x86_64.whl (823 kB)
Using cached nvidia_cudnn_cu12-8.9.2.26-py3-none-manylinux1_x86_64.whl (731.7 MB)
Using cached nvidia_cufft_cu12-11.0.2.54-py3-none-manylinux1_x86_64.whl (121.6 MB)
Using cached nvidia_curand_cu12-10.3.2.106-py3-none-manylinux1_x86_64.whl (56.5 MB)
Using cached nvidia_cusolver_cu12-11.4.5.107-py3-none-manylinux1_x86_64.whl (124.2 MB)
Using cached nvidia_cusparse_cu12-12.1.0.106-py3-none-manylinux1_x86_64.whl (196.0 MB)
Using cached nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_x86_64.whl (176.2 MB)
Using cached nvidia_nvtx_cu12-12.1.105-py3-none-manylinux1_x86_64.whl (99 kB)
Using cached triton-2.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (168.1 MB)
Using cached nlopt-2.7.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (423 kB)
Using cached anytree-2.13.0-py3-none-any.whl (45 kB)
Using cached lxml-6.0.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (5.3 MB)
Using cached pin-2.7.0-2-cp310-cp310-manylinux_2_28_x86_64.whl (6.1 MB)
Using cached cmeel_boost-1.83.0-0-cp310-cp310-manylinux_2_28_x86_64.whl (34.7 MB)
Using cached cmeel_urdfdom-3.1.1.1-0-py3-none-manylinux_2_28_x86_64.whl (405 kB)
Using cached hpp_fcl-2.4.4-3-cp310-cp310-manylinux_2_28_x86_64.whl (2.4 MB)
Using cached cmeel_assimp-5.4.3.1-0-py3-none-manylinux_2_28_x86_64.whl (14.4 MB)
Using cached cmeel_octomap-1.10.0-5-py3-none-manylinux_2_28_x86_64.whl (1.1 MB)
Using cached cmeel_qhull-8.0.2.1-1-py3-none-manylinux_2_28_x86_64.whl (3.3 MB)
Using cached eigenpy-3.5.1-0-cp310-cp310-manylinux_2_28_x86_64.whl (4.7 MB)
Using cached pytransform3d-3.14.2-py3-none-any.whl (164 kB)
Using cached PyYAML-6.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (751 kB)
Using cached trimesh-4.6.13-py3-none-any.whl (712 kB)
Using cached cmeel-0.57.3-py3-none-any.whl (20 kB)
Using cached tomli-2.2.1-py3-none-any.whl (14 kB)
Using cached cmeel_console_bridge-1.0.2.3-0-py3-none-manylinux_2_28_x86_64.whl (24 kB)
Using cached cmeel_tinyxml-2.6.2.3-0-py3-none-manylinux_2_28_x86_64.whl (62 kB)
Using cached cmeel_zlib-1.3.1-0-py3-none-manylinux_2_28_x86_64.whl (282 kB)
Using cached filelock-3.18.0-py3-none-any.whl (16 kB)
Using cached fsspec-2025.5.1-py3-none-any.whl (199 kB)
Using cached jinja2-3.1.6-py3-none-any.whl (134 kB)
Using cached MarkupSafe-3.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (20 kB)
Using cached matplotlib-3.10.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (8.6 MB)
Using cached contourpy-1.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (325 kB)
Using cached cycler-0.12.1-py3-none-any.whl (8.3 kB)
Using cached fonttools-4.58.5-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (4.8 MB)
Using cached kiwisolver-1.4.8-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl (1.6 MB)
Using cached packaging-25.0-py3-none-any.whl (66 kB)
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Using cached python_dateutil-2.9.0.post0-py2.py3-none-any.whl (229 kB)
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Using cached networkx-3.4.2-py3-none-any.whl (1.7 MB)
Using cached nvidia_nvjitlink_cu12-12.9.86-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl (39.7 MB)
Using cached sympy-1.14.0-py3-none-any.whl (6.3 MB)
Using cached mpmath-1.3.0-py3-none-any.whl (536 kB)
Building wheels for collected packages: dex_retargeting
Building editable for dex_retargeting (pyproject.toml) ... done
Created wheel for dex_retargeting: filename=dex_retargeting-0.4.7-0.editable-py3-none-any.whl size=2441 sha256=e735c6aed91da7ed0128d24211b2233891e830bfc80c4c45983488fc6de36051
Stored in directory: /tmp/pip-ephem-wheel-cache-eov_y0kw/wheels/85/51/90/47e0799d174bc8a684af77e0fe39f8809f9aa9eb0f7c900136
Successfully built dex_retargeting
Installing collected packages: mpmath, trimesh, tomli, sympy, six, pyyaml, pyparsing, packaging, nvidia-nvtx-cu12, nvidia-nvjitlink-cu12, nvidia-nccl-cu12, nvidia-curand-cu12, nvidia-cufft-cu12, nvidia-cuda-runtime-cu12, nvidia-cuda-nvrtc-cu12, nvidia-cuda-cupti-cu12, nvidia-cublas-cu12, nlopt, networkx, MarkupSafe, lxml, kiwisolver, fsspec, fonttools, filelock, cycler, contourpy, anytree, triton, python-dateutil, nvidia-cusparse-cu12, nvidia-cudnn-cu12, jinja2, cmeel, nvidia-cusolver-cu12, matplotlib, cmeel-zlib, cmeel-tinyxml, cmeel-qhull, cmeel-octomap, cmeel-console-bridge, cmeel-boost, torch, pytransform3d, eigenpy, cmeel-urdfdom, cmeel-assimp, hpp-fcl, pin, dex_retargeting
Successfully installed MarkupSafe-3.0.2 anytree-2.13.0 cmeel-0.57.3 cmeel-assimp-5.4.3.1 cmeel-boost-1.83.0 cmeel-console-bridge-1.0.2.3 cmeel-octomap-1.10.0 cmeel-qhull-8.0.2.1 cmeel-tinyxml-2.6.2.3 cmeel-urdfdom-3.1.1.1 cmeel-zlib-1.3.1 contourpy-1.3.2 cycler-0.12.1 dex_retargeting-0.4.7 eigenpy-3.5.1 filelock-3.18.0 fonttools-4.58.5 fsspec-2025.5.1 hpp-fcl-2.4.4 jinja2-3.1.6 kiwisolver-1.4.8 lxml-6.0.0 matplotlib-3.10.3 mpmath-1.3.0 networkx-3.4.2 nlopt-2.7.1 nvidia-cublas-cu12-12.1.3.1 nvidia-cuda-cupti-cu12-12.1.105 nvidia-cuda-nvrtc-cu12-12.1.105 nvidia-cuda-runtime-cu12-12.1.105 nvidia-cudnn-cu12-8.9.2.26 nvidia-cufft-cu12-11.0.2.54 nvidia-curand-cu12-10.3.2.106 nvidia-cusolver-cu12-11.4.5.107 nvidia-cusparse-cu12-12.1.0.106 nvidia-nccl-cu12-2.20.5 nvidia-nvjitlink-cu12-12.9.86 nvidia-nvtx-cu12-12.1.105 packaging-25.0 pin-2.7.0 pyparsing-3.2.3 python-dateutil-2.9.0.post0 pytransform3d-3.14.2 pyyaml-6.0.2 six-1.17.0 sympy-1.14.0 tomli-2.2.1 torch-2.3.0 trimesh-4.6.13 triton-2.3.0
(tv) unitree_user@unitree:~/xr_teleoperate/teleop/robot_control/dex-retargeting$ cd ../../../
(tv) unitree_user@unitree:~/xr_teleoperate$ pip install -r requirements.txt
Collecting matplotlib==3.7.5 (from -r requirements.txt (line 1))
Using cached matplotlib-3.7.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (5.7 kB)
Collecting rerun-sdk==0.20.1 (from -r requirements.txt (line 2))
Using cached rerun_sdk-0.20.1-cp38-abi3-manylinux_2_31_x86_64.whl.metadata (4.2 kB)
Collecting meshcat==0.3.2 (from -r requirements.txt (line 3))
Using cached meshcat-0.3.2-py3-none-any.whl.metadata (595 bytes)
Collecting sshkeyboard==2.3.1 (from -r requirements.txt (line 4))
Using cached sshkeyboard-2.3.1-py3-none-any.whl.metadata (11 kB)
Requirement already satisfied: contourpy>=1.0.1 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (1.3.2)
Requirement already satisfied: cycler>=0.10 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (0.12.1)
Requirement already satisfied: fonttools>=4.22.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (4.58.5)
Requirement already satisfied: kiwisolver>=1.0.1 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (1.4.8)
Requirement already satisfied: numpy<2,>=1.20 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (1.26.4)
Requirement already satisfied: packaging>=20.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (25.0)
Requirement already satisfied: pillow>=6.2.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (11.3.0)
Requirement already satisfied: pyparsing>=2.3.1 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (3.2.3)
Requirement already satisfied: python-dateutil>=2.7 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from matplotlib==3.7.5->-r requirements.txt (line 1)) (2.9.0.post0)
Requirement already satisfied: attrs>=23.1.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rerun-sdk==0.20.1->-r requirements.txt (line 2)) (25.3.0)
Collecting pyarrow>=14.0.2 (from rerun-sdk==0.20.1->-r requirements.txt (line 2))
Using cached pyarrow-20.0.0-cp310-cp310-manylinux_2_28_x86_64.whl.metadata (3.3 kB)
Requirement already satisfied: typing-extensions>=4.5 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rerun-sdk==0.20.1->-r requirements.txt (line 2)) (4.14.1)
Collecting ipython>=5 (from meshcat==0.3.2->-r requirements.txt (line 3))
Using cached ipython-8.37.0-py3-none-any.whl.metadata (5.1 kB)
Collecting u-msgpack-python>=2.4.1 (from meshcat==0.3.2->-r requirements.txt (line 3))
Using cached u_msgpack_python-2.8.0-py2.py3-none-any.whl.metadata (1.3 kB)
Collecting tornado>=4.0.0 (from meshcat==0.3.2->-r requirements.txt (line 3))
Using cached tornado-6.5.1-cp39-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (2.8 kB)
Collecting pyzmq>=17.0.0 (from meshcat==0.3.2->-r requirements.txt (line 3))
Using cached pyzmq-27.0.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.metadata (6.0 kB)
Collecting pyngrok>=4.1.6 (from meshcat==0.3.2->-r requirements.txt (line 3))
Using cached pyngrok-7.2.11-py3-none-any.whl.metadata (9.4 kB)
Collecting decorator (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached decorator-5.2.1-py3-none-any.whl.metadata (3.9 kB)
Collecting exceptiongroup (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached exceptiongroup-1.3.0-py3-none-any.whl.metadata (6.7 kB)
Collecting jedi>=0.16 (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached jedi-0.19.2-py2.py3-none-any.whl.metadata (22 kB)
Collecting matplotlib-inline (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached matplotlib_inline-0.1.7-py3-none-any.whl.metadata (3.9 kB)
Collecting pexpect>4.3 (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached pexpect-4.9.0-py2.py3-none-any.whl.metadata (2.5 kB)
Collecting prompt_toolkit<3.1.0,>=3.0.41 (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached prompt_toolkit-3.0.51-py3-none-any.whl.metadata (6.4 kB)
Requirement already satisfied: pygments>=2.4.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3)) (2.19.2)
Collecting stack_data (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached stack_data-0.6.3-py3-none-any.whl.metadata (18 kB)
Collecting traitlets>=5.13.0 (from ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached traitlets-5.14.3-py3-none-any.whl.metadata (10 kB)
Collecting wcwidth (from prompt_toolkit<3.1.0,>=3.0.41->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached wcwidth-0.2.13-py2.py3-none-any.whl.metadata (14 kB)
Collecting parso<0.9.0,>=0.8.4 (from jedi>=0.16->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached parso-0.8.4-py2.py3-none-any.whl.metadata (7.7 kB)
Collecting ptyprocess>=0.5 (from pexpect>4.3->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached ptyprocess-0.7.0-py2.py3-none-any.whl.metadata (1.3 kB)
Requirement already satisfied: PyYAML>=5.1 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from pyngrok>=4.1.6->meshcat==0.3.2->-r requirements.txt (line 3)) (6.0.2)
Requirement already satisfied: six>=1.5 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from python-dateutil>=2.7->matplotlib==3.7.5->-r requirements.txt (line 1)) (1.17.0)
Collecting executing>=1.2.0 (from stack_data->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached executing-2.2.0-py2.py3-none-any.whl.metadata (8.9 kB)
Collecting asttokens>=2.1.0 (from stack_data->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached asttokens-3.0.0-py3-none-any.whl.metadata (4.7 kB)
Collecting pure-eval (from stack_data->ipython>=5->meshcat==0.3.2->-r requirements.txt (line 3))
Using cached pure_eval-0.2.3-py3-none-any.whl.metadata (6.3 kB)
Using cached matplotlib-3.7.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (11.6 MB)
Using cached rerun_sdk-0.20.1-cp38-abi3-manylinux_2_31_x86_64.whl (46.0 MB)
Using cached meshcat-0.3.2-py3-none-any.whl (2.6 MB)
Using cached sshkeyboard-2.3.1-py3-none-any.whl (12 kB)
Using cached ipython-8.37.0-py3-none-any.whl (831 kB)
Using cached prompt_toolkit-3.0.51-py3-none-any.whl (387 kB)
Using cached jedi-0.19.2-py2.py3-none-any.whl (1.6 MB)
Using cached parso-0.8.4-py2.py3-none-any.whl (103 kB)
Using cached pexpect-4.9.0-py2.py3-none-any.whl (63 kB)
Using cached ptyprocess-0.7.0-py2.py3-none-any.whl (13 kB)
Using cached pyarrow-20.0.0-cp310-cp310-manylinux_2_28_x86_64.whl (42.3 MB)
Using cached pyngrok-7.2.11-py3-none-any.whl (25 kB)
Using cached pyzmq-27.0.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (853 kB)
Using cached tornado-6.5.1-cp39-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (443 kB)
Using cached traitlets-5.14.3-py3-none-any.whl (85 kB)
Using cached u_msgpack_python-2.8.0-py2.py3-none-any.whl (10 kB)
Using cached decorator-5.2.1-py3-none-any.whl (9.2 kB)
Using cached exceptiongroup-1.3.0-py3-none-any.whl (16 kB)
Using cached matplotlib_inline-0.1.7-py3-none-any.whl (9.9 kB)
Using cached stack_data-0.6.3-py3-none-any.whl (24 kB)
Using cached asttokens-3.0.0-py3-none-any.whl (26 kB)
Using cached executing-2.2.0-py2.py3-none-any.whl (26 kB)
Using cached pure_eval-0.2.3-py3-none-any.whl (11 kB)
Using cached wcwidth-0.2.13-py2.py3-none-any.whl (34 kB)
Installing collected packages: wcwidth, u-msgpack-python, pure-eval, ptyprocess, traitlets, tornado, sshkeyboard, pyzmq, pyngrok, pyarrow, prompt_toolkit, pexpect, parso, executing, exceptiongroup, decorator, asttokens, stack_data, rerun-sdk, matplotlib-inline, matplotlib, jedi, ipython, meshcat
Attempting uninstall: matplotlib
Found existing installation: matplotlib 3.10.3
Uninstalling matplotlib-3.10.3:
Successfully uninstalled matplotlib-3.10.3
Successfully installed asttokens-3.0.0 decorator-5.2.1 exceptiongroup-1.3.0 executing-2.2.0 ipython-8.37.0 jedi-0.19.2 matplotlib-3.7.5 matplotlib-inline-0.1.7 meshcat-0.3.2 parso-0.8.4 pexpect-4.9.0 prompt_toolkit-3.0.51 ptyprocess-0.7.0 pure-eval-0.2.3 pyarrow-20.0.0 pyngrok-7.2.11 pyzmq-27.0.0 rerun-sdk-0.20.1 sshkeyboard-2.3.1 stack_data-0.6.3 tornado-6.5.1 traitlets-5.14.3 u-msgpack-python-2.8.0 wcwidth-0.2.13
(tv) unitree_user@unitree:~/xr_teleoperate$ cd ..
(tv) unitree_user@unitree:~$ git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
Cloning into 'unitree_sdk2_python'...
remote: Enumerating objects: 551, done.
remote: Counting objects: 100% (316/316), done.
remote: Compressing objects: 100% (127/127), done.
remote: Total 551 (delta 220), reused 189 (delta 189), pack-reused 235 (from 1)
Receiving objects: 100% (551/551), 113.30 KiB | 407.00 KiB/s, done.
Resolving deltas: 100% (269/269), done.
(tv) unitree_user@unitree:~$ cd unitree_sdk2_python/
(tv) unitree_user@unitree:~/unitree_sdk2_python$ pip install -e .
Obtaining file:///home/unitree_user/unitree_sdk2_python
Installing build dependencies ... done
Checking if build backend supports build_editable ... done
Getting requirements to build editable ... done
Preparing editable metadata (pyproject.toml) ... done
Collecting cyclonedds==0.10.2 (from unitree_sdk2py==1.0.1)
Using cached cyclonedds-0.10.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (10 kB)
Requirement already satisfied: numpy in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from unitree_sdk2py==1.0.1) (1.26.4)
Requirement already satisfied: opencv-python in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from unitree_sdk2py==1.0.1) (4.11.0.86)
Collecting rich-click (from cyclonedds==0.10.2->unitree_sdk2py==1.0.1)
Using cached rich_click-1.8.9-py3-none-any.whl.metadata (7.9 kB)
Collecting click>=7 (from rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1)
Using cached click-8.2.1-py3-none-any.whl.metadata (2.5 kB)
Requirement already satisfied: rich>=10.7 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1) (14.0.0)
Requirement already satisfied: typing_extensions>=4 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1) (4.14.1)
Requirement already satisfied: markdown-it-py>=2.2.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rich>=10.7->rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1) (3.0.0)
Requirement already satisfied: pygments<3.0.0,>=2.13.0 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from rich>=10.7->rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1) (2.19.2)
Requirement already satisfied: mdurl~=0.1 in /home/unitree_user/miniforge3/envs/tv/lib/python3.10/site-packages (from markdown-it-py>=2.2.0->rich>=10.7->rich-click->cyclonedds==0.10.2->unitree_sdk2py==1.0.1) (0.1.2)
Using cached cyclonedds-0.10.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (6.6 MB)
Using cached rich_click-1.8.9-py3-none-any.whl (36 kB)
Using cached click-8.2.1-py3-none-any.whl (102 kB)
Building wheels for collected packages: unitree_sdk2py
Building editable for unitree_sdk2py (pyproject.toml) ... done
Created wheel for unitree_sdk2py: filename=unitree_sdk2py-1.0.1-0.editable-py3-none-any.whl size=5779 sha256=85e5c24a40e94d61f2411e00c78409cb527ca97cc47cb220ebdcfde1ea9a43ca
Stored in directory: /tmp/pip-ephem-wheel-cache-lhoyjp44/wheels/d4/c9/26/fdb2175f16236112ee5a65ac860cd3253a9985c808f7f86029
Successfully built unitree_sdk2py
Installing collected packages: click, rich-click, cyclonedds, unitree_sdk2py
Successfully installed click-8.2.1 cyclonedds-0.10.2 rich-click-1.8.9 unitree_sdk2py-1.0.1
(tv) unitree_user@unitree:~/unitree_sdk2_python$ cd ../xr_teleoperate/
(tv) unitree_user@unitree:~/xr_teleoperate$ cd teleop/
- terminal 2
(base) unitree_user@unitree:~$ conda activate unitree_sim_env
(unitree_sim_env) unitree_user@unitree:~$ cd ~/unitree_sim_isaaclab
(unitree_sim_env) unitree_user@unitree:~/unitree_sim_isaaclab$ python sim_main.py --device cpu --enable_cameras --task Isaac-PickPlace-Cylinder-G129-Dex3-Joint --enable_dex3_dds --robot_type g129
[INFO][AppLauncher]: Using device: cpu
[INFO][AppLauncher]: Loading experience file: /home/unitree_user/Downloads/IsaacLab/apps/isaaclab.python.rendering.kit
Loading user config located at: '/home/unitree_user/Downloads/isaac-sim/kit/data/Kit/Isaac-Sim/4.5/user.config.json'
[Info] [carb] Logging to file: /home/unitree_user/Downloads/isaac-sim/kit/logs/Kit/Isaac-Sim/4.5/kit_20250707_203127.log
2025-07-07 12:31:27 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
2025-07-07 12:31:27 [2ms] [Warning] [omni.ext.plugin] [ext: rendering_modes] Extensions config 'extension.toml' doesn't exist '/home/unitree_user/Downloads/IsaacLab/apps/rendering_modes' or '/home/unitree_user/Downloads/IsaacLab/apps/rendering_modes/config'
2025-07-07 12:31:28 [578ms] [Warning] [omni.datastore] OmniHub is inaccessible
|---------------------------------------------------------------------------------------------|
| Driver Version: 535.154.05 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24822 MB | 10de | 0 |
| | | | | | 2204 | e577ce28.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-79-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: 11th Gen Intel(R) Core(TM) i7-11700 @ 2.50GHz
| Cores: 8 | Logical Cores: 16
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31972 | Free Memory: 4987
| Total Page/Swap (MB): 36672 | Free Page/Swap: 36646
|---------------------------------------------------------------------------------------------|
2025-07-07 12:31:33 [5,378ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2025-07-07 12:31:33 [5,642ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2025-07-07 12:31:33 [6,271ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2025-07-07 12:31:34 [7,044ms] [Warning] [omni.kit.menu.utils.app_menu] add_menu_items: menu [<MenuItemDescription name:'New'>, <MenuItemDescription name:'Open'>, <MenuItemDescription name:'Re-open with New Edit Layer'>, <MenuItemDescription name:'Save'>, <MenuItemDescription name:'Save With Options'>, <MenuItemDescription name:'Save As...'>, <MenuItemDescription name:'Save Flattened As...'>, <MenuItemDescription name:'Add Reference'>, <MenuItemDescription name:'Add Payload'>, <MenuItemDescription name:'Exit'>] cannot change delegate
/home/unitree_user/miniforge3/envs/unitree_sim_env/lib/python3.10/site-packages/wandb/sdk/internal/internal_api.py:13: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
from pkg_resources import parse_version
2025-07-07 12:31:37 [10,125ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/ambientOcclusion/enabled'
2025-07-07 12:31:37 [10,125ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/directLighting/sampledLighting/enabled'
2025-07-07 12:31:37 [10,125ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/indirectDiffuse/enabled'
2025-07-07 12:31:37 [10,126ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/raytracing/cached/enabled'
2025-07-07 12:31:37 [10,126ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/reflections/enabled'
2025-07-07 12:31:37 [10,126ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/sceneDb/ambientLightIntensity'
2025-07-07 12:31:37 [10,126ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/translucency/enabled'
2025-07-07 12:31:37 [10,126ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/viewTile/limit'
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 8448000128
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 8363520384
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 8508328 (slope: 503, intercept: 13181056)
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4286378240
2025-07-07 12:31:37 [10,249ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
2025-07-07 12:31:38 [10,343ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/directLighting/sampledLighting/samplesPerPixel'
2025-07-07 12:31:38 [10,347ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/pathtracing/maxSamplesPerLaunch'
2025-07-07 12:31:38 [10,348ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults-transient/meshlights/forceDisable'
2025-07-07 12:31:38 [10,384ms] [Warning] [omni.usd-abi.plugin] No setting was found for '/rtx-defaults/post/dlss/execMode'
[DDSNodeManager] Manager initialized
[MultiImageWriter] Shared memory initialized: isaac_multi_image_shm
============================================================
robot control system started
任务: Isaac-PickPlace-Cylinder-G129-Dex3-Joint
Action源: dds
============================================================
[INFO]: Parsing configuration from: <class 'tasks.g1_tasks.pick_place_cylinder_g1_29dof_dex3.pickplace_cylinder_g1_29dof_dex3_joint_env_cfg.PickPlaceG129DEX3JointEnvCfg'>
create environment...
2025-07-07 12:31:41 [13,885ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
Environment device : cpu
Environment seed : None
Physics step-size : 0.01
Rendering step-size : 0.01
Environment step-size : 0.02
2025-07-07 12:31:41 [13,967ms] [Warning] [isaaclab.envs.manager_based_env] The render interval (1) is smaller than the decimation (2). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
2025-07-07 12:31:47 [19,842ms] [Warning] [isaaclab.scene.interactive_scene] Collision filtering can only be automatically enabled when replicate_physics=True and GPU simulation. Please call scene.filter_collisions(global_prim_paths) to filter collisions across environments.
[INFO]: Time taken for scene creation : 5.877070 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 1
Environment spacing : 2.5
Source prim name : /World/envs/env_0
Global prim paths : []
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2025-07-07 12:31:47 [20,215ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
2025-07-07 12:31:47 [20,215ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
2025-07-07 12:31:47 [20,217ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
2025-07-07 12:32:07 [39,666ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/PackingTable/SM_CratePacking_Table_A1/Crate_02_GRP/SM_Crate_A08_Blue_02.proto_SM_Crate_A08_01_id0 that has not been populated
2025-07-07 12:32:08 [40,574ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 278) is below minimal input resolution of 300.
2025-07-07 12:32:08 [40,686ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
[INFO]: Time taken for simulation start : 21.639767 seconds
[INFO] Command Manager: <CommandManager> contains 0 active terms.
+------------------------+
| Active Command Terms |
+--------+-------+-------+
| Index | Name | Type |
+--------+-------+-------+
+--------+-------+-------+
[INFO] Event Manager: <EventManager> contains 1 active terms.
+-----------------------------------+
| Active Event Terms in Mode: 'reset' |
+-----------+-----------------------+
| Index | Name |
+-----------+-----------------------+
| 0 | reset_object |
+-----------+-----------------------+
[INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
| Index | Name |
+-----------+---------+
+-----------+---------+
[INFO] Action Manager: <ActionManager> contains 1 active terms.
+------------------------------------+
| Active Action Terms (shape: 43) |
+--------+-------------+-------------+
| Index | Name | Dimension |
+--------+-------------+-------------+
| 0 | joint_pos | 43 |
+--------+-------------+-------------+
[G1RobotDDS] DDS Node initialized
[G1RobotDDS] Input shared memory: psm_27375bde
[G1RobotDDS] Output shared memory: psm_a2ec4ee5
[G1RobotDDS] G1 robot DDS node initialized
[DDSNodeManager] Node 'G1RobotDDS' registered
[DDSInitManager] DDS factory initialized successfully
[G1RobotDDS] State publisher initialized (rt/lowstate)
[G1RobotDDS] Publish thread started
[G1RobotDDS] Node started successfully
[G1RobotDDS] G1 robot DDS communication started
[g1_state] G1 robot DDS communication instance obtained
[Dex3DDS] DDS Node initialized
[Dex3DDS] Input shared memory: psm_b723fd6a
[Dex3DDS] Output shared memory: psm_2bb4f10d
[Dex3DDS] Hand DDS node initialized
[DDSNodeManager] Node 'Dex3DDS' registered
[Dex3DDS] Hand state publisher initialized
[Dex3DDS] Publish thread started
[Dex3DDS] Node started successfully
[Dex3DDS] Hand DDS communication started (publish only)
[Observations Dex3] DDS communication instance obtained
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+------------------------------------------------+
| Active Observation Terms in Group: 'policy' |
+--------+----------------------+----------------+
| Index | Name | Shape |
+--------+----------------------+----------------+
| 0 | robot_joint_state | (87,) |
| 1 | robot_gipper_state | (14,) |
| 2 | camera_image | (480, 640, 3) |
+--------+----------------------+----------------+
[INFO] Termination Manager: <TerminationManager> contains 1 active terms.
+----------------------------+
| Active Termination Terms |
+-------+---------+----------+
| Index | Name | Time Out |
+-------+---------+----------+
| 0 | success | False |
+-------+---------+----------+
[INFO] Reward Manager: <RewardManager> contains 0 active terms.
+-----------------------+
| Active Reward Terms |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
| Index | Name |
+-----------+----------+
+-----------+----------+
Creating window for environment.
[INFO]: Completed setting up the environment...
[Image Server] Initializing multi-image server from shared memory
{'fps': 30, 'head_camera_type': 'opencv', 'head_camera_image_shape': [480, 640]}
[MultiImageReader] Shared memory opened: isaac_multi_image_shm
[Image Server] Multi-image server initialized on port 5555
[Image Server] Starting send_process from shared memory...
[Image Server] Multi-image publishing thread started
create controller...
- control frequency: 500Hz
create action provider: dds...
ActionProvider init
enable_robot: g129
enable_gripper: False
enable_dex3: True
Starting G1 robot DDS subscriber...
[DDSNodeManager] Node 'G1RobotDDS' registered
[G1RobotDDS] Node is already running, dynamically add features...
[G1RobotDDS] Add subscribe function...
[G1RobotDDS] Create ChannelSubscriber...
[G1RobotDDS] Subscribe thread started
[G1RobotDDS] Subscribe thread started
[G1RobotDDS] G1 robot DDS communication started
start_g1_robot_subscriber_only success
[DDSNodeManager] Node 'Dex3DDS' registered
[Dex3DDS] Node is already running, dynamically add features...
[Dex3DDS] Add subscribe function...
[Dex3DDS] Hand command subscriber initialized
[Dex3DDS] Subscribe thread started
[Dex3DDS] Subscribe thread started
[Dex3DDS] Hand DDS communication started (subscribe only)
dex3_dds start_hand_subscriber_only success
[DDSActionProvider] DDS communication initialized
[SimpleController] set the action provider: DDSActionProvider
performance analysis enabled, report every 500 steps
[ResetPoseCmdDDS] DDS Node initialized
[ResetPoseCmdDDS] Output shared memory: psm_6b7477cb
[ResetPoseCmdDDS] Reset pose DDS node initialized
[DDSNodeManager] Node 'ResetPoseCmdDDS' registered
[ResetPoseCmdDDS] Setting up subscriber...
[ResetPoseCmdDDS] Reset pose command subscriber initialized
[ResetPoseCmdDDS] Subscriber setup successfully
[ResetPoseCmdDDS] Starting subscribe thread...
[ResetPoseCmdDDS] Subscribe thread started
[ResetPoseCmdDDS] Subscribe thread started
[ResetPoseCmdDDS] Node started successfully
[ResetPoseCmdDDS] Reset pose DDS communication started (subscribe only)
start controller...
[DDSActionProvider] ActionProvider started
[SimpleController] the controller is started
controller started, start main loop...
=== While loop execution frequency statistics ===
loop execution count: 116
running time: 10.04 seconds
overall average frequency: 11.55 Hz
moving average frequency: 11.48 Hz (last 100 times)
frequency range: 9.24 - 12.21 Hz
average loop time: 86.56 ms
recent loop time: 87.11 ms
=============================
=== While loop execution frequency statistics ===
loop execution count: 226
running time: 20.09 seconds
overall average frequency: 11.25 Hz
moving average frequency: 10.95 Hz (last 100 times)
frequency range: 9.19 - 11.80 Hz
average loop time: 88.89 ms
recent loop time: 91.33 ms
=============================- terminal 1
(tv) unitree_user@unitree:~/xr_teleoperate/teleop$ python teleop_hand_and_arm.py --xr-mode=hand --arm=G1_29 --ee=dex3 --sim --record
20:33:20:368707 INFO args: Namespace(task_dir='./utils/data', frequency=90.0, xr_mode='hand', arm='G1_29', teleop_hand_and_arm.py:69
ee='dex3', record=True, motion=False, headless=False, sim=True)
20:33:20:369544 INFO Image client has started, waiting to receive data... image_client.py:134
Serving file:///home/unitree_user/xr_teleoperate/teleop at /static
20:33:20:388083 INFO Initialize G1_29_ArmController... robot_arm.py:63
Visit: https://vuer.ai?grid=False
20:33:20:641080 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:101
20:33:20:641148 INFO [G1_29_ArmController] Subscribe dds ok. robot_arm.py:102
20:33:20:643684 INFO Current all body motor state q: robot_arm.py:111
[ 9.18879360e-02 5.85756404e-03 -2.61475686e-02 -2.11042419e-01
1.19717881e-01 -2.32466793e+00 -3.04771811e-01 -2.87285950e-02
-5.10822013e-02 6.30154490e-01 -3.27292800e-01 -3.93302552e-03
-7.60211333e-05 -2.37762706e-05 1.22027937e-02 1.35705480e-02
-8.98855156e-04 4.08016902e-04 1.06108729e-02 -2.66803254e-04
3.43344547e-03 1.80272600e-05 1.35772098e-02 9.15568497e-04
-4.45710262e-04 1.06447302e-02 2.33476065e-04 3.45180696e-03
-1.66103182e-05 0.00000000e+00 0.00000000e+00 0.00000000e+00
0.00000000e+00 0.00000000e+00 0.00000000e+00]
20:33:20:643857 INFO Current two arms motor state q: robot_arm.py:112
[ 1.35705480e-02 -8.98855156e-04 4.08016902e-04 1.06108729e-02
-2.66803254e-04 3.43344547e-03 1.80272600e-05 1.35772098e-02
9.15568497e-04 -4.45710262e-04 1.06447302e-02 2.33476065e-04
3.45180696e-03 -1.66103182e-05]
20:33:20:643885 INFO Lock all joints except two arms... robot_arm.py:113
20:33:20:644024 INFO Lock OK! robot_arm.py:133
20:33:20:644976 INFO Initialize G1_29_ArmController OK! robot_arm.py:141
20:33:24:611201 INFO Initialize Dex3_1_Controller... robot_hand_unitree.py:54
Target link human indices is provided in the DexPilot retargeting config, which is uncommon.
If you do not know exactly how it is used, please leave it to None for default.
Target link human indices is provided in the DexPilot retargeting config, which is uncommon.
If you do not know exactly how it is used, please leave it to None for default.
20:33:25:155696 WARNING [Dex3_1_Controller] Waiting to subscribe dds... robot_hand_unitree.py:88
20:33:25:155758 INFO [Dex3_1_Controller] Subscribe dds ok. robot_hand_unitree.py:89
20:33:25:164030 INFO Initialize Dex3_1_Controller OK! robot_hand_unitree.py:96
20:33:25:371261 INFO [SimStateSubscriber] Shared memory setup successfully sim_state_topic.py:148
20:33:25:371311 INFO [SimStateSubscriber] Initialized with shared memory: sim_state_cmd_data sim_state_topic.py:142
20:33:25:372081 INFO [SimStateSubscriber] Subscriber initialized sim_state_topic.py:190
20:33:25:372224 INFO [SimStateSubscriber] Subscribe thread started sim_state_topic.py:167
20:33:25:372267 INFO [SimStateSubscriber] Started subscribing to rt/sim_state_cmd sim_state_topic.py:196
20:33:25:372333 INFO ==> EpisodeWriter initializing... episode_writer.py:18
20:33:25:372372 INFO ==> RerunLogger initializing... episode_writer.py:25
[2025-07-07T12:33:25Z INFO winit::platform_impl::linux::x11::window] Guessed window scale factor: 1
[2025-07-07T12:33:25Z WARN wgpu_hal::vulkan::instance] Unable to find extension: VK_EXT_swapchain_colorspace
[2025-07-07T12:33:25Z WARN wgpu_hal::gles::egl] No config found!
[2025-07-07T12:33:25Z WARN wgpu_hal::gles::egl] EGL says it can present to the window but not natively
20:33:25:563162 INFO ==> RerunLogger initializing ok. episode_writer.py:27
20:33:25:563537 INFO ==> episode directory does not exist, now create one. episode_writer.py:40
20:33:25:564065 INFO ==> EpisodeWriter initialized successfully. episode_writer.py:52
20:33:25:564107 INFO Please enter the start signal (enter 'r' to start the subsequent program) teleop_hand_and_arm.py:195
[2025-07-07T12:33:25Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
[2025-07-07T12:33:25Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
20:33:36:268380 INFO Program start signal received. teleop_hand_and_arm.py:43
******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
Ipopt is released as open source code under the Eclipse Public License (EPL).
For more information visit https://github.com/coin-or/Ipopt
******************************************************************************
[2025-07-07T12:33:46Z INFO re_sdk::spawn] A process is already listening at this address. Assuming it's a Rerun Viewer. addr=0.0.0.0:9876
20:33:46:705888 INFO ==> New episode created: ./utils/data/episode_0000 episode_writer.py:114
20:33:46:727857 INFO ==> episode_id:0 item_id:0 current_time:1751891626.727839 episode_writer.py:186
20:33:46:741150 INFO ==> episode_id:0 item_id:1 current_time:1751891626.7411358 episode_writer.py:186
20:33:46:753942 INFO ==> episode_id:0 item_id:2 current_time:1751891626.7539277 episode_writer.py:186
20:33:46:767161 INFO ==> episode_id:0 item_id:3 current_time:1751891626.767148 episode_writer.py:186
20:33:46:785648 INFO ==> episode_id:0 item_id:4 current_time:1751891626.7856307 episode_writer.py:186
20:33:46:800417 INFO ==> episode_id:0 item_id:5 current_time:1751891626.8004036 episode_writer.py:186
20:33:46:835416 INFO ==> episode_id:0 item_id:6 current_time:1751891626.8354023 episode_writer.py:186
20:33:46:846855 INFO ==> episode_id:0 item_id:7 current_time:1751891626.8468425 episode_writer.py:186
20:33:46:862101 INFO ==> episode_id:0 item_id:8 current_time:1751891626.8620877 episode_writer.py:186
20:33:46:874528 INFO ==> episode_id:0 item_id:9 current_time:1751891626.8745131 episode_writer.py:186
20:33:46:895291 INFO ==> episode_id:0 item_id:10 current_time:1751891626.8952777 episode_writer.py:186
20:33:46:914251 INFO ==> episode_id:0 item_id:11 current_time:1751891626.914235 episode_writer.py:186
20:33:46:929012 INFO ==> episode_id:0 item_id:12 current_time:1751891626.9289994 episode_writer.py:186
20:33:46:949457 INFO ==> episode_id:0 item_id:13 current_time:1751891626.9494388 episode_writer.py:186
20:33:46:962982 INFO ==> episode_id:0 item_id:14 current_time:1751891626.962965 episode_writer.py:186
20:33:46:973851 INFO ==> episode_id:0 item_id:15 current_time:1751891626.973837 episode_writer.py:186
20:33:46:987672 INFO ==> episode_id:0 item_id:16 current_time:1751891626.9876547 episode_writer.py:186
20:33:47:001319 INFO ==> episode_id:0 item_id:17 current_time:1751891627.001302 episode_writer.py:186
20:33:47:020150 INFO ==> episode_id:0 item_id:18 current_time:1751891627.0201364 episode_writer.py:186
20:33:47:033859 INFO ==> episode_id:0 item_id:19 current_time:1751891627.033843 episode_writer.py:186
20:33:47:045666 INFO ==> episode_id:0 item_id:20 current_time:1751891627.0456488 episode_writer.py:186
20:33:47:064788 INFO ==> episode_id:0 item_id:21 current_time:1751891627.0647633 episode_writer.py:186
20:33:47:079721 INFO ==> episode_id:0 item_id:22 current_time:1751891627.0797076 episode_writer.py:186
20:33:47:092145 INFO ==> episode_id:0 item_id:23 current_time:1751891627.092126 episode_writer.py:186
20:33:47:109832 INFO ==> episode_id:0 item_id:24 current_time:1751891627.1098185 episode_writer.py:186
20:33:47:121702 INFO ==> episode_id:0 item_id:25 current_time:1751891627.1216826 episode_writer.py:186
20:33:47:133151 INFO ==> episode_id:0 item_id:26 current_time:1751891627.1331346 episode_writer.py:186
20:33:47:149261 INFO ==> episode_id:0 item_id:27 current_time:1751891627.1492436 episode_writer.py:186
20:33:47:163787 INFO ==> episode_id:0 item_id:28 current_time:1751891627.163774 episode_writer.py:186
20:33:47:170236 INFO ==> Episode saved start... episode_writer.py:194
20:33:47:170355 INFO published reset category: 1 teleop_hand_and_arm.py:32
20:33:47:179456 INFO ==> episode_id:0 item_id:29 current_time:1751891627.1794393 episode_writer.py:186
20:33:47:198425 INFO ==> episode_id:0 item_id:30 current_time:1751891627.1984024 episode_writer.py:186
20:33:47:211765 INFO ==> episode_id:0 item_id:31 current_time:1751891627.2117462 episode_writer.py:186
20:33:47:224487 INFO ==> episode_id:0 item_id:32 current_time:1751891627.224473 episode_writer.py:186
20:33:47:243121 INFO ==> episode_id:0 item_id:33 current_time:1751891627.2431045 episode_writer.py:186
20:33:47:256324 INFO ==> episode_id:0 item_id:34 current_time:1751891627.2563083 episode_writer.py:186
20:33:47:268594 INFO ==> episode_id:0 item_id:35 current_time:1751891627.2685783 episode_writer.py:186
20:33:47:281516 INFO ==> episode_id:0 item_id:36 current_time:1751891627.2815008 episode_writer.py:186
20:33:47:302142 INFO ==> episode_id:0 item_id:37 current_time:1751891627.3021243 episode_writer.py:186
20:33:47:313835 INFO ==> episode_id:0 item_id:38 current_time:1751891627.3138225 episode_writer.py:186
20:33:47:327790 INFO ==> episode_id:0 item_id:39 current_time:1751891627.3277707 episode_writer.py:186
20:33:47:346643 INFO ==> episode_id:0 item_id:40 current_time:1751891627.3466134 episode_writer.py:186
20:33:47:367438 INFO ==> Episode saved successfully to ./utils/data/episode_0000/data.json. episode_writer.py:207
20:33:52:088233 INFO published reset category: 2 teleop_hand_and_arm.py:32
20:33:52:098435 INFO [G1_29_ArmController] ctrl_dual_arm_go_home start... robot_arm.py:220
20:33:52:299076 INFO [G1_29_ArmController] both arms have reached the home position. robot_arm.py:234
20:33:52:369467 INFO [SimStateSubscriber] Stopping subscriber... sim_state_topic.py:207
20:33:52:370827 INFO [SimStateSubscriber] Subscribe thread stopped sim_state_topic.py:176
20:33:52:370964 INFO [SimStateSubscriber] Subscriber stopped sim_state_topic.py:217
20:33:52:371001 INFO Finally, exiting program... teleop_hand_and_arm.py:417