diff --git a/r1/CMakeLists.txt b/r1/CMakeLists.txt index f358389..4af6ee6 100644 --- a/r1/CMakeLists.txt +++ b/r1/CMakeLists.txt @@ -9,9 +9,11 @@ set(CMAKE_CXX_EXTENSIONS OFF) option(BUILD_VISION "Build vision components" ON) option(BUILD_VOICE "Build R1 voice assistant" ON) -set(UNITREE_SDK2_DIR +set( + UNITREE_SDK2_DIR "/home/jvizner/unitree_sdk2" - CACHE PATH "Path to unitree_sdk2" + CACHE PATH + "Path to unitree_sdk2" ) # ============================================================ @@ -21,7 +23,8 @@ set(UNITREE_SDK2_DIR if(BUILD_VISION OR BUILD_VOICE) if(NOT EXISTS "${UNITREE_SDK2_DIR}/CMakeLists.txt") - message(FATAL_ERROR + message( + FATAL_ERROR "Invalid UNITREE_SDK2_DIR: ${UNITREE_SDK2_DIR}" ) endif() @@ -35,29 +38,41 @@ if(BUILD_VISION OR BUILD_VOICE) endif() # ============================================================ -# Vision +# Vision / Motion # ============================================================ if(BUILD_VISION) find_package(Eigen3 REQUIRED) - find_package(OpenCV REQUIRED COMPONENTS - core - imgproc - highgui - imgcodecs + find_package( + OpenCV REQUIRED + COMPONENTS + core + imgproc + highgui + imgcodecs + calib3d ) find_package(pinocchio REQUIRED) + find_package(fmt REQUIRED) - add_library(r1_vision_common INTERFACE) + # -------------------------------------------------------- + # Shared vision dependencies + # -------------------------------------------------------- + + add_library( + r1_vision_common + INTERFACE + ) target_include_directories( r1_vision_common INTERFACE "${CMAKE_CURRENT_SOURCE_DIR}/include" "${UNITREE_SDK2_DIR}/include" + ${OpenCV_INCLUDE_DIRS} ) target_link_libraries( @@ -75,17 +90,47 @@ if(BUILD_VISION) UNITREE_SDK2_DIR="${UNITREE_SDK2_DIR}" ) + # -------------------------------------------------------- + # Camera frame publisher + # + # Named r1_vision_node because Unitree SDK2 already + # defines its own "vision_node" target. + # -------------------------------------------------------- + add_executable( - vision_node + r1_vision_node src/vision_node.cc ) target_link_libraries( - vision_node + r1_vision_node PRIVATE r1_vision_common ) + # -------------------------------------------------------- + # Motion controller + # + # Reads YOLO detections and controls R1 head. + # fmt is required by Unitree ArmSdk / spdlog. + # -------------------------------------------------------- + + add_executable( + r1_motion_node + src/motion_node.cc + ) + + target_link_libraries( + r1_motion_node + PRIVATE + r1_vision_common + fmt::fmt + ) + + # -------------------------------------------------------- + # Hand / camera calibration + # -------------------------------------------------------- + add_executable( r1_hand_calibrate src/r1_hand_calibrate.cc @@ -107,27 +152,20 @@ if(BUILD_VOICE) find_package(CURL REQUIRED) + # -------------------------------------------------------- + # Voice assistant + # -------------------------------------------------------- + add_executable( r1_voice - src/voice_node.cc src/stt.cc src/llm.cc src/tts.cc src/conversation.cc + src/vision_context.cc ) - add_executable( - r1_mic_test - src/r1_mic_test.cc -) - -target_include_directories( - r1_mic_test - PRIVATE - "${UNITREE_SDK2_DIR}/include" -) - target_include_directories( r1_voice PRIVATE @@ -142,6 +180,28 @@ target_include_directories( CURL::libcurl ) + # -------------------------------------------------------- + # Raw microphone test + # -------------------------------------------------------- + + add_executable( + r1_mic_test + src/r1_mic_test.cc + ) + + target_include_directories( + r1_mic_test + PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/include" + "${UNITREE_SDK2_DIR}/include" + ) + + target_link_libraries( + r1_mic_test + PRIVATE + unitree_sdk2 + ) + endif() # ============================================================ @@ -151,33 +211,54 @@ endif() set(INSTALL_TARGETS "") if(BUILD_VISION) - list(APPEND INSTALL_TARGETS - vision_node - r1_hand_calibrate + + list( + APPEND INSTALL_TARGETS + r1_vision_node + r1_motion_node + r1_hand_calibrate ) + endif() if(BUILD_VOICE) - list(APPEND INSTALL_TARGETS - r1_voice + + list( + APPEND INSTALL_TARGETS + r1_voice + r1_mic_test ) + endif() -install( - TARGETS ${INSTALL_TARGETS} - RUNTIME DESTINATION bin -) +if(INSTALL_TARGETS) + + install( + TARGETS + ${INSTALL_TARGETS} + RUNTIME DESTINATION bin + ) + +endif() + +# ============================================================ +# Install configuration / scripts +# ============================================================ if(BUILD_VISION) install( - DIRECTORY config/ - DESTINATION share/r1_vision/config + DIRECTORY + config/ + DESTINATION + share/r1_vision/config ) install( - PROGRAMS scripts/yolo_detector.py - DESTINATION share/r1_vision/scripts + PROGRAMS + scripts/yolo_detector.py + DESTINATION + share/r1_vision/scripts ) endif() diff --git a/r1/build/CMakeCache.txt b/r1/build/CMakeCache.txt index fbfbcc7..48341d6 100644 --- a/r1/build/CMakeCache.txt +++ b/r1/build/CMakeCache.txt @@ -18,7 +18,7 @@ BUILD_EXAMPLES:BOOL=ON //Build vision components -BUILD_VISION:BOOL=OFF +BUILD_VISION:BOOL=ON //Build R1 voice assistant BUILD_VOICE:BOOL=ON @@ -337,6 +337,9 @@ Eigen3_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/eigen3/cmake // Undefined, Thread, Leak, 'Address;Undefined', CFI GZ_SANITIZER:STRING= +//No help, variable specified on the command line. +OpenCV_DIR:UNINITIALIZED=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4 + //CXX compiler flags for OpenMP parallelization OpenMP_CXX_FLAGS:STRING=-fopenmp @@ -391,6 +394,9 @@ casadi_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/casadi //The directory containing a CMake configuration file for coal. coal_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal +//The directory containing a CMake configuration file for fmt. +fmt_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt + //The directory containing a CMake configuration file for gz-cmake. gz-cmake_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/cmake/gz-cmake @@ -668,8 +674,10 @@ FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/home/jvizner/miniconda3/envs/ai_ro FIND_PACKAGE_MESSAGE_DETAILS_CURL:INTERNAL=[/home/jvizner/miniconda3/envs/ai_robot/lib/libcurl.so][/home/jvizner/miniconda3/envs/ai_robot/include][c ][v8.21.0()] //Details about finding DL FIND_PACKAGE_MESSAGE_DETAILS_DL:INTERNAL=[true][v()] +//Details about finding OpenCV +FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/home/jvizner/miniconda3/envs/ai_robot][cfound components: core imgproc highgui imgcodecs calib3d ][v4.13.0()] //Details about finding OpenMP -FIND_PACKAGE_MESSAGE_DETAILS_OpenMP:INTERNAL=[TRUE][TRUE][c ][v4.5()] +FIND_PACKAGE_MESSAGE_DETAILS_OpenMP:INTERNAL=[TRUE][c ][v4.5()] //Details about finding OpenMP_C FIND_PACKAGE_MESSAGE_DETAILS_OpenMP_C:INTERNAL=[-fopenmp][/home/jvizner/miniconda3/envs/ai_robot/lib/libgomp.so][/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libpthread.a][v4.5()] //Details about finding OpenMP_CXX diff --git a/r1/build/CMakeFiles/CMakeOutput.log b/r1/build/CMakeFiles/CMakeOutput.log index ac53820..4101541 100644 --- a/r1/build/CMakeFiles/CMakeOutput.log +++ b/r1/build/CMakeFiles/CMakeOutput.log @@ -15,10 +15,10 @@ The CXX compiler identification is GNU, found in "/home/jvizner/esarobotech/r1/b Detecting CXX compiler ABI info compiled with the following output: Change Dir: /home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_fe7bb/fast && /usr/bin/gmake -f CMakeFiles/cmTC_fe7bb.dir/build.make CMakeFiles/cmTC_fe7bb.dir/build +Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_42faa/fast && /usr/bin/gmake -f CMakeFiles/cmTC_42faa.dir/build.make CMakeFiles/cmTC_42faa.dir/build 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[/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2] ==> ignore arg [-plugin] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so] ==> ignore arg [-plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/ccfvWW12.res] ==> ignore + arg [-plugin-opt=-fresolution=/tmp/ccTu5pKc.res] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lc] ==> ignore @@ -402,7 +402,7 @@ Parsed C implicit link information from above output: arg [/lib64/ld-linux-x86-64.so.2] ==> ignore arg [-pie] ==> ignore arg [-o] ==> ignore - arg [cmTC_eccd9] ==> ignore + arg [cmTC_169cf] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/Scrt1.o] ==> obj 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-L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib -O2 --sort-common --as-needed -z relro -z now --disable-new-dtags --gc-sections --allow-shlib-undefined -rpath /home/jvizner/miniconda3/envs/ai_robot/lib -rpath-link /home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o -lgomp -lgcc --push-state --as-needed -lgcc_s --pop-state -lpthread -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/crtendS.o /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/crtn.o -rpath /home/jvizner/miniconda3/envs/ai_robot/lib +COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-L/home/jvizner/miniconda3/envs/ai_robot/lib' '-o' 'cmTC_6bcb4' '-v' '-pthread' '-dumpdir' 'cmTC_6bcb4.' gmake[1]: Leaving directory '/home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp' @@ -580,10 +580,10 @@ Parsed C OpenMP implicit link information from above output: link line regex: [^( *|.*[/\])(x86_64-conda-linux-gnu-ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)] ignore line: [Change Dir: /home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp] ignore line: [] - ignore line: [Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_2efce/fast && /usr/bin/gmake -f CMakeFiles/cmTC_2efce.dir/build.make CMakeFiles/cmTC_2efce.dir/build] + ignore line: [Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_6bcb4/fast && /usr/bin/gmake -f CMakeFiles/cmTC_6bcb4.dir/build.make CMakeFiles/cmTC_6bcb4.dir/build] ignore line: [gmake[1]: Entering directory '/home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp'] - ignore line: [Building C object CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o] - ignore line: [/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -fopenmp -v -o CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o -c /home/jvizner/esarobotech/r1/build/CMakeFiles/FindOpenMP/OpenMPTryFlag.c] + ignore line: [Building C object CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o] + ignore line: [/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -fopenmp -v -o CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o -c /home/jvizner/esarobotech/r1/build/CMakeFiles/FindOpenMP/OpenMPTryFlag.c] ignore line: [Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/specs] ignore line: [could not find specs file conda.specs] ignore line: [COLLECT_GCC=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc] @@ -592,9 +592,9 @@ Parsed C OpenMP implicit link information from above output: ignore line: [Thread model: posix] ignore line: [Supported LTO compression algorithms: zlib] ignore line: [gcc version 15.2.0 (conda-forge gcc 15.2.0-7) ] - ignore line: [COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-o' 'CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o' '-c' '-pthread' '-dumpdir' 'CMakeFiles/cmTC_2efce.dir/'] - ignore line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/cc1 -quiet -v -iprefix /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/ -isysroot /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot -D_REENTRANT -isystem /home/jvizner/miniconda3/envs/ai_robot/include /home/jvizner/esarobotech/r1/build/CMakeFiles/FindOpenMP/OpenMPTryFlag.c -quiet -dumpdir CMakeFiles/cmTC_2efce.dir/ -dumpbase OpenMPTryFlag.c.c -dumpbase-ext .c -march=nocona -mtune=haswell -O2 -version -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -ffunction-sections -fopenmp -o - |] - ignore line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/as -v --64 -o CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o] + ignore line: [COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-o' 'CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o' '-c' '-pthread' '-dumpdir' 'CMakeFiles/cmTC_6bcb4.dir/'] + ignore line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/cc1 -quiet -v -iprefix /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/ -isysroot /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot -D_REENTRANT -isystem /home/jvizner/miniconda3/envs/ai_robot/include /home/jvizner/esarobotech/r1/build/CMakeFiles/FindOpenMP/OpenMPTryFlag.c -quiet -dumpdir CMakeFiles/cmTC_6bcb4.dir/ -dumpbase OpenMPTryFlag.c.c -dumpbase-ext .c -march=nocona -mtune=haswell -O2 -version -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -ffunction-sections -fopenmp -o - |] + ignore line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/as -v --64 -o CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o] ignore line: [GNU assembler version 2.44 (x86_64-conda-linux-gnu) using BFD version (GNU Binutils) 2.44] ignore line: [GNU C23 (conda-forge gcc 15.2.0-7) version 15.2.0 (x86_64-conda-linux-gnu)] ignore line: [ compiled by GNU C version 15.2.0 GMP version 6.2.1 MPFR version 4.1.0 MPC version 1.2.1 isl version isl-0.24-GMP] @@ -615,10 +615,10 @@ Parsed C OpenMP implicit link information from above output: ignore line: [Compiler executable checksum: 037de694186995dc2e603db501a8db1c] ignore line: [COMPILER_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/] ignore line: 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/home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o -o cmTC_2efce -v ] + ignore line: [COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-o' 'CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o' '-c' '-pthread' '-dumpdir' 'CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.'] + ignore line: [Linking C executable cmTC_6bcb4] + ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6bcb4.dir/link.txt --verbose=1] + ignore line: [/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -fopenmp -v -Wl -O2 -Wl --sort-common -Wl --as-needed -Wl -z relro -Wl -z now -Wl --disable-new-dtags -Wl --gc-sections -Wl --allow-shlib-undefined -Wl -rpath /home/jvizner/miniconda3/envs/ai_robot/lib -Wl -rpath-link /home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o -o cmTC_6bcb4 -v ] ignore line: [Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/specs] ignore line: [could not find specs file conda.specs] ignore line: [COLLECT_GCC=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc] @@ -631,13 +631,13 @@ Parsed C OpenMP implicit link information from above output: ignore line: [COMPILER_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/] ignore line: [LIBRARY_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/] ignore line: [Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/../lib/libgomp.spec] - ignore line: [COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-L/home/jvizner/miniconda3/envs/ai_robot/lib' '-o' 'cmTC_2efce' '-v' '-pthread' '-dumpdir' 'cmTC_2efce.'] - link line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2 -plugin /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so -plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper -plugin-opt=-fresolution=/tmp/ccTeyUg4.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lpthread 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/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/crtendS.o /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/crtn.o -rpath /home/jvizner/miniconda3/envs/ai_robot/lib] + ignore line: [COLLECT_GCC_OPTIONS='-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-L/home/jvizner/miniconda3/envs/ai_robot/lib' '-o' 'cmTC_6bcb4' '-v' '-pthread' '-dumpdir' 'cmTC_6bcb4.'] + link line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2 -plugin /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so -plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper -plugin-opt=-fresolution=/tmp/ccTanT4W.res 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-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../.. -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib -O2 --sort-common --as-needed -z relro -z now --disable-new-dtags --gc-sections --allow-shlib-undefined -rpath /home/jvizner/miniconda3/envs/ai_robot/lib -rpath-link /home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o -lgomp -lgcc --push-state --as-needed -lgcc_s --pop-state -lpthread -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/crtendS.o /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/crtn.o -rpath /home/jvizner/miniconda3/envs/ai_robot/lib] arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2] ==> ignore arg [-plugin] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so] ==> ignore arg [-plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/ccTeyUg4.res] ==> ignore + arg [-plugin-opt=-fresolution=/tmp/ccTanT4W.res] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lpthread] ==> ignore @@ -652,7 +652,7 @@ Parsed C OpenMP implicit link information from above output: arg [/lib64/ld-linux-x86-64.so.2] ==> ignore arg [-pie] ==> ignore arg [-o] ==> ignore - arg [cmTC_2efce] ==> ignore + arg [cmTC_6bcb4] ==> ignore arg [-L/home/jvizner/miniconda3/envs/ai_robot/lib] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/lib] arg [-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0] arg [-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc] @@ -676,7 +676,7 @@ Parsed C OpenMP implicit link information from above output: arg [/home/jvizner/miniconda3/envs/ai_robot/lib] ==> ignore arg [-rpath-link] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/lib] ==> ignore - arg [CMakeFiles/cmTC_2efce.dir/OpenMPTryFlag.c.o] ==> ignore + arg [CMakeFiles/cmTC_6bcb4.dir/OpenMPTryFlag.c.o] ==> ignore arg [-lgomp] ==> lib [gomp] arg 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/home/jvizner/esarobotech/r1/build/CMakeFiles/FindOpenMP/OpenMPTryFlag.cpp -quiet -dumpdir CMakeFiles/cmTC_d4ca5.dir/ -dumpbase OpenMPTryFlag.cpp.cpp -dumpbase-ext .cpp -march=nocona -mtune=haswell -O2 -std=c++17 -version -fvisibility-inlines-hidden -fmessage-length=0 -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -ffunction-sections -fopenmp -o - | - /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/as -v --64 -o CMakeFiles/cmTC_d4ca5.dir/OpenMPTryFlag.cpp.o +COLLECT_GCC_OPTIONS='-fvisibility-inlines-hidden' '-fmessage-length=0' '-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-std=c++17' '-o' 'CMakeFiles/cmTC_09647.dir/OpenMPTryFlag.cpp.o' '-c' '-shared-libgcc' '-pthread' '-dumpdir' 'CMakeFiles/cmTC_09647.dir/' + 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Compiler executable checksum: 1f5ac9e6f3b516674f3263bfc1143e53 COMPILER_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/ 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-fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -fopenmp -v -Wl -O2 -Wl --sort-common -Wl --as-needed -Wl -z relro -Wl -z now -Wl --disable-new-dtags -Wl --gc-sections -Wl --allow-shlib-undefined -Wl -rpath /home/jvizner/miniconda3/envs/ai_robot/lib -Wl -rpath-link /home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_09647.dir/OpenMPTryFlag.cpp.o -o cmTC_09647 -v ] ignore line: [Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/specs] ignore line: [could not find specs file conda.specs] ignore line: [COLLECT_GCC=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++] @@ -837,13 +837,13 @@ Parsed CXX OpenMP implicit link information from above output: ignore line: [COMPILER_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/] ignore line: [LIBRARY_PATH=/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/:/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/] ignore line: [Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/../lib/libgomp.spec] - ignore line: [COLLECT_GCC_OPTIONS='-fvisibility-inlines-hidden' '-fmessage-length=0' '-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-fopenmp' '-v' '-L/home/jvizner/miniconda3/envs/ai_robot/lib' '-o' 'cmTC_d4ca5' '-v' '-shared-libgcc' '-pthread' '-dumpdir' 'cmTC_d4ca5.'] - link line: [ /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2 -plugin /home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so -plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper -plugin-opt=-fresolution=/tmp/ccPzad1C.res -plugin-opt=-pass-through=-lgcc_s 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-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib/../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib/../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../.. -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/lib -L/home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib -O2 --sort-common --as-needed -z relro -z now --disable-new-dtags --gc-sections --allow-shlib-undefined -rpath /home/jvizner/miniconda3/envs/ai_robot/lib -rpath-link /home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/cmTC_09647.dir/OpenMPTryFlag.cpp.o -lstdc++ -lm -lgomp -lgcc_s -lgcc -lpthread -lc -lgcc_s -lgcc /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/crtendS.o /home/jvizner/miniconda3/envs/ai_robot/bin/../x86_64-conda-linux-gnu/sysroot/usr/lib/../lib/crtn.o -rpath /home/jvizner/miniconda3/envs/ai_robot/lib] arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/collect2] ==> ignore arg [-plugin] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/liblto_plugin.so] ==> ignore arg [-plugin-opt=/home/jvizner/miniconda3/envs/ai_robot/bin/../libexec/gcc/x86_64-conda-linux-gnu/15.2.0/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/ccPzad1C.res] ==> ignore + arg [-plugin-opt=-fresolution=/tmp/ccdigVcH.res] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lpthread] ==> ignore @@ -858,7 +858,7 @@ Parsed CXX OpenMP implicit link information from above output: arg [/lib64/ld-linux-x86-64.so.2] ==> ignore arg [-pie] ==> ignore arg [-o] ==> ignore - arg [cmTC_d4ca5] ==> ignore + arg [cmTC_09647] ==> ignore arg [-L/home/jvizner/miniconda3/envs/ai_robot/lib] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/lib] arg [-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0] arg [-L/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc] ==> dir [/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc] @@ -882,7 +882,7 @@ Parsed CXX OpenMP implicit link information from above output: arg [/home/jvizner/miniconda3/envs/ai_robot/lib] ==> ignore arg [-rpath-link] ==> ignore arg [/home/jvizner/miniconda3/envs/ai_robot/lib] ==> ignore - arg [CMakeFiles/cmTC_d4ca5.dir/OpenMPTryFlag.cpp.o] ==> ignore + arg [CMakeFiles/cmTC_09647.dir/OpenMPTryFlag.cpp.o] ==> ignore arg [-lstdc++] ==> lib [stdc++] arg [-lm] ==> lib [m] arg [-lgomp] ==> lib [gomp] diff --git a/r1/build/CMakeFiles/Makefile.cmake b/r1/build/CMakeFiles/Makefile.cmake index ba9824a..3da1bf6 100644 --- a/r1/build/CMakeFiles/Makefile.cmake +++ b/r1/build/CMakeFiles/Makefile.cmake @@ -15,6 +15,7 @@ set(CMAKE_MAKEFILE_DEPENDS "CMakeFiles/FindOpenMP/OpenMPCheckVersion.cpp" "CMakeFiles/FindOpenMP/OpenMPTryFlag.c" "CMakeFiles/FindOpenMP/OpenMPTryFlag.cpp" + "cmake/tmp-cxx-standard.cpp" "unitree_sdk2/example/r1/cmake/tmp-cxx-standard.cpp" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/Boost-1.90.0/BoostConfig.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/Boost-1.90.0/BoostConfigVersion.cmake" @@ -40,6 +41,10 @@ set(CMAKE_MAKEFILE_DEPENDS "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal/coalTargets-release.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal/coalTargets.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal/cxx-standard.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt/fmt-config-version.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt/fmt-config.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt/fmt-targets-release.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt/fmt-targets.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-math/gz-math-config-version.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-math/gz-math-config.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-math/gz-math-targets-release.cmake" @@ -51,6 +56,10 @@ set(CMAKE_MAKEFILE_DEPENDS "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-utils/gz-utils-config.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-utils/gz-utils-targets-release.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-utils/gz-utils-targets.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4/OpenCVConfig-version.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4/OpenCVConfig.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4/OpenCVModules-release.cmake" + "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4/OpenCVModules.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/pinocchio/cxx-standard.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/pinocchio/pinocchioConfig.cmake" "/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/pinocchio/pinocchioConfigVersion.cmake" @@ -269,6 +278,9 @@ set(CMAKE_MAKEFILE_PRODUCTS # Dependency information for all targets: set(CMAKE_DEPEND_INFO_FILES + "CMakeFiles/r1_vision_node.dir/DependInfo.cmake" + "CMakeFiles/r1_motion_node.dir/DependInfo.cmake" + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_config.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/random.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/WeakReference.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TFilter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TRank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/ddssub.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TQuery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/Publisher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp \ + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_config.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sched.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/random.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_locator.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/WeakReference.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicTraits.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/heap.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_serdata.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/misc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/iovec.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_sertype.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/atomics.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/arch.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/endian.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/atomics/gcc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/avl.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_xqos.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_protocol.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_feature_check.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sockets.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sockets/posix.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_rtps.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_vendor.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_guid.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_time.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_log.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/rusage.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads/posix.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_typelib.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_list_tmpl.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_typewrap.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_xt_typemap.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_keyhash.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/features.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TFilter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/iterator \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stream_iterator.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TRank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/ddssub.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TQuery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp \ + 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+ /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/LengthUnlimited.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/ProprietaryPolicyKind.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/TCorePolicyImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/TCorePolicy.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/Policy.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/QosPolicyCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/TQosPolicyCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/State.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/status/StatusDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/DDScObjectDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Mutex.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/ForwardDeclarations.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/GuardCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/GuardCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TGuardCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/Condition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/Condition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/StatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/ReadCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_config.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/random.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/WeakReference.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TFilter.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/iterator \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stream_iterator.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp \ + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/ddssub.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TQuery.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp \ + 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/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/exception_defines.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/move.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/cpp_type_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/localefwd.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/x86_64-conda-linux-gnu/bits/c++locale.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/clocale \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/locale.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/locale.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/iosfwd \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cctype \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/ctype.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/typesizes.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/time64.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/endian.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/endianness.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/ostream_insert.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/cxxabi_forced.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_iterator_base_funcs.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/concept_check.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/debug/assertions.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_iterator_base_types.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_iterator.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/type_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/ptr_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_function.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/backward/binders.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/numeric_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_algobase.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_pair.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/utility.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/debug/debug.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/predefined_ops.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bit \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/concepts \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/refwrap.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/invoke.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/range_access.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/initializer_list \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/basic_string.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/alloc_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/alloc_traits.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_construct.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/string_view \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/functional_hash.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/hash_bytes.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/string_view.tcc \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/string_conversions.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstdlib \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/stdlib.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/waitflags.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/waitstatus.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/clock_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/clockid_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/time_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/timer_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdint-intn.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/endian.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/byteswap.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/uintn-identity.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/select.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/select.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/sigset_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/__sigset_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_timeval.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_timespec.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/pthreadtypes.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/thread-shared-types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/pthreadtypes-arch.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/struct_mutex.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/struct_rwlock.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/alloca.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdlib-bsearch.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdlib-float.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/std_abs.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstdio \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/stdio.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/__fpos_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/__fpos64_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_FILE.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/cookie_io_functions_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdio_lim.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdio.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cerrno \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/errno-base.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/error_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/charconv.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/basic_string.tcc \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/memory_resource.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstddef \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/uses_allocator.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/uses_allocator_args.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/tuple \ - ../include/r1_voice/llm.hh \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/vector \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_uninitialized.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_vector.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_bvector.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/vector.tcc \ - ../include/r1_voice/stt.hh \ - ../include/r1_voice/tts.hh \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstdint \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdint.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/stdint.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdint-uintn.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/memory \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_tempbuf.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_raw_storage_iter.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/align.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/unique_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/shared_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/shared_ptr_base.h \ - 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_config.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/random.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/WeakReference.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Topic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \ - 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Filter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TFilter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/iterator \ - 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/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/errno.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/errno-base.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/error_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/charconv.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/basic_string.tcc \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/memory_resource.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstddef \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/uses_allocator.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/uses_allocator_args.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/tuple \ - ../include/r1_voice/llm.hh \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/vector \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_uninitialized.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_vector.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_bvector.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/vector.tcc \ - ../include/r1_voice/stt.hh \ - ../include/r1_voice/tts.hh \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cstdint \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdint.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/stdint.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stdint-uintn.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/memory \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_tempbuf.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/stl_raw_storage_iter.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/align.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/unique_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/shared_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/shared_ptr_base.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/typeinfo \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/allocated_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/aligned_buffer.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/atomicity.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/x86_64-conda-linux-gnu/bits/gthr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/x86_64-conda-linux-gnu/bits/gthr-default.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/pthread.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sched.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sched.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_sched_param.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/cpu-set.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/time.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/time.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/timex.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_tm.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_itimerspec.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/setjmp.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct___jmp_buf_tag.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/pthread_stack_min-dynamic.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/x86_64-conda-linux-gnu/bits/atomic_word.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/single_threaded.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/ext/concurrence.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/exception \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/exception_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/cxxabi_init_exception.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/nested_exception.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/shared_ptr_atomic.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/atomic_base.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/atomic_lockfree_defines.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/backward/auto_ptr.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/pstl/glue_memory_defs.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/pstl/execution_defs.h \ - /home/jvizner/unitree_sdk2/include/unitree/robot/r1/audio/audio_client.hpp \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/limits \ - /home/jvizner/unitree_sdk2/include/unitree/robot/client/client.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/robot/client/client_base.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/robot/client/client_stub.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/robot/future/request_future.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/common/lock/lock.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/common/decl.hpp \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/unistd.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/posix_opt.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/environments.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/confname.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/getopt_posix.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/getopt_core.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/unistd_ext.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/close_range.h \ - /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/stdlib.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/execinfo.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/signal.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/signum-generic.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/signum-arch.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/sig_atomic_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/siginfo_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/__sigval_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/siginfo-arch.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/siginfo-consts.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/siginfo-consts-arch.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/sigval_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/sigevent_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigevent-consts.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigaction.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigcontext.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/stack_t.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/ucontext.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigstack.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigstksz.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/ss_flags.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_sigstack.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sigthread.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/signal_ext.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/string.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/strings.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/arpa/inet.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/netinet/in.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/socket.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_iovec.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/socket.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/socket_type.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/sockaddr.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/socket.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/socket.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/posix_types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/stddef.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/posix_types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/posix_types_64.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/posix_types.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/bitsperlong.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/bitsperlong.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm/sockios.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/asm-generic/sockios.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/types/struct_osockaddr.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/in.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/ifaddrs.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/mman.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/mman.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/mman-map-flags-generic.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/mman-linux.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/mman-shared.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/stat.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/stat.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/struct_stat.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/statx.h \ - /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/linux/stat.h \ - 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/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sockets/posix.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_rtps.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_vendor.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_guid.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_time.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_locator.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_log.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/log.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/rusage.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sched.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads/posix.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_typelib.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/static_assert.h \ - 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/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \ - 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- /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \ - 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Sample.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Rank.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TRank.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSample.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/ddssub.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Query.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TQuery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/Publisher.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopicListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TQueryImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/detail/TSampleRefImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/ddspub.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/DataWriter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/DataWriter.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/find.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/discovery.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/SuspendedPublication.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/SuspendedPublication.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TSuspendedPublicationImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TSuspendedPublication.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/SuspendedPublicationDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/CoherentSet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/CoherentSet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/TCoherentSetImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/TCoherentSet.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/CoherentSetDelegate.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/ddspub.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/detail/DataWriterImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/DataWriterListener.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/QosProvider.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/QosProvider.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TQosProviderImpl.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TQosProvider.hpp \ - /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/QosProviderDelegate.hpp \ - /home/jvizner/unitree_sdk2/include/unitree/common/log/log.hpp \ - 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-1009,6 +1096,54 @@ src/tts.cc.s: $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_voice.dir/build.make CMakeFiles/r1_voice.dir/src/tts.cc.s .PHONY : src/tts.cc.s +src/vision_context.o: src/vision_context.cc.o +.PHONY : src/vision_context.o + +# target to build an object file +src/vision_context.cc.o: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_voice.dir/build.make CMakeFiles/r1_voice.dir/src/vision_context.cc.o +.PHONY : src/vision_context.cc.o + +src/vision_context.i: src/vision_context.cc.i +.PHONY : src/vision_context.i + +# target to preprocess a source file +src/vision_context.cc.i: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_voice.dir/build.make CMakeFiles/r1_voice.dir/src/vision_context.cc.i +.PHONY : src/vision_context.cc.i + +src/vision_context.s: src/vision_context.cc.s +.PHONY : src/vision_context.s + +# target to generate assembly for a file +src/vision_context.cc.s: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_voice.dir/build.make CMakeFiles/r1_voice.dir/src/vision_context.cc.s +.PHONY : src/vision_context.cc.s + +src/vision_node.o: src/vision_node.cc.o +.PHONY : src/vision_node.o + +# target to build an object file +src/vision_node.cc.o: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_vision_node.dir/build.make CMakeFiles/r1_vision_node.dir/src/vision_node.cc.o +.PHONY : src/vision_node.cc.o + +src/vision_node.i: src/vision_node.cc.i +.PHONY : src/vision_node.i + +# target to preprocess a source file +src/vision_node.cc.i: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_vision_node.dir/build.make CMakeFiles/r1_vision_node.dir/src/vision_node.cc.i +.PHONY : src/vision_node.cc.i + +src/vision_node.s: src/vision_node.cc.s +.PHONY : src/vision_node.s + +# target to generate assembly for a file +src/vision_node.cc.s: + $(MAKE) $(MAKESILENT) -f CMakeFiles/r1_vision_node.dir/build.make CMakeFiles/r1_vision_node.dir/src/vision_node.cc.s +.PHONY : src/vision_node.cc.s + src/voice_node.o: src/voice_node.cc.o .PHONY : src/voice_node.o @@ -1088,8 +1223,11 @@ help: @echo "... r1_ankle_swing_example" @echo "... r1_arm_sdk_dds_example" @echo "... r1_audio_client_example" + @echo "... r1_hand_calibrate" @echo "... r1_loco_client" @echo "... r1_mic_test" + @echo "... r1_motion_node" + @echo "... r1_vision_node" @echo "... r1_voice" @echo "... scoop_test" @echo "... state_machine_example" @@ -1107,6 +1245,12 @@ help: @echo "... src/llm.o" @echo "... src/llm.i" @echo "... src/llm.s" + @echo "... src/motion_node.o" + @echo "... src/motion_node.i" + @echo "... src/motion_node.s" + @echo "... src/r1_hand_calibrate.o" + @echo "... src/r1_hand_calibrate.i" + @echo "... src/r1_hand_calibrate.s" @echo "... src/r1_mic_test.o" @echo "... src/r1_mic_test.i" @echo "... src/r1_mic_test.s" @@ -1116,6 +1260,12 @@ help: @echo "... src/tts.o" @echo "... src/tts.i" @echo "... src/tts.s" + @echo "... src/vision_context.o" + @echo "... src/vision_context.i" + @echo "... src/vision_context.s" + @echo "... src/vision_node.o" + @echo "... src/vision_node.i" + @echo "... src/vision_node.s" @echo "... src/voice_node.o" @echo "... src/voice_node.i" @echo "... src/voice_node.s" diff --git a/r1/build/cmake/tmp-cxx-standard.cpp b/r1/build/cmake/tmp-cxx-standard.cpp new file mode 100644 index 0000000..7dd165b --- /dev/null +++ b/r1/build/cmake/tmp-cxx-standard.cpp @@ -0,0 +1,2 @@ +#include +int main(){std::cout << __cplusplus << std::endl;return 0;} diff --git a/r1/build/cmake_install.cmake b/r1/build/cmake_install.cmake index c03deff..92fbcb7 100644 --- a/r1/build/cmake_install.cmake +++ b/r1/build/cmake_install.cmake @@ -42,6 +42,66 @@ if(NOT DEFINED CMAKE_OBJDUMP) set(CMAKE_OBJDUMP "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-objdump") endif() +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/jvizner/esarobotech/r1/build/r1_vision_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node" + OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_vision_node") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/jvizner/esarobotech/r1/build/r1_motion_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node" + OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_motion_node") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/jvizner/esarobotech/r1/build/r1_hand_calibrate") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate" + OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_hand_calibrate") + endif() + endif() +endif() + if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice" AND NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice") @@ -62,6 +122,34 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_ endif() endif() +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/jvizner/esarobotech/r1/build/r1_mic_test") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test" + OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/r1_vision/config" TYPE DIRECTORY FILES "/home/jvizner/esarobotech/r1/config/") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/r1_vision/scripts" TYPE PROGRAM FILES "/home/jvizner/esarobotech/r1/scripts/yolo_detector.py") +endif() + if(CMAKE_INSTALL_COMPONENT) set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") else() diff --git a/r1/build/r1_hand_calibrate b/r1/build/r1_hand_calibrate new file mode 100755 index 0000000..b07b34b Binary files /dev/null and b/r1/build/r1_hand_calibrate differ diff --git a/r1/build/r1_mic_test b/r1/build/r1_mic_test index 5a21af1..8e8e4bf 100755 Binary files a/r1/build/r1_mic_test and b/r1/build/r1_mic_test differ diff --git a/r1/build/r1_motion_node b/r1/build/r1_motion_node new file mode 100755 index 0000000..7038e13 Binary files /dev/null and b/r1/build/r1_motion_node differ diff --git a/r1/build/r1_vision_node b/r1/build/r1_vision_node new file mode 100755 index 0000000..6f6366d Binary files /dev/null and b/r1/build/r1_vision_node differ diff --git a/r1/build/r1_voice b/r1/build/r1_voice index 2b079de..bde4bcf 100755 Binary files a/r1/build/r1_voice and b/r1/build/r1_voice differ diff --git a/r1/include/r1_voice/conversation.hh b/r1/include/r1_voice/conversation.hh index 18fc68b..2a2cb35 100644 --- a/r1/include/r1_voice/conversation.hh +++ b/r1/include/r1_voice/conversation.hh @@ -5,6 +5,7 @@ #include "r1_voice/llm.hh" #include "r1_voice/stt.hh" #include "r1_voice/tts.hh" +#include "r1_voice/vision_context.hh" namespace r1_voice { @@ -12,6 +13,7 @@ struct ConversationConfig { SttConfig stt; LlmConfig llm; TtsConfig tts; + VisionConfig vision; }; class Conversation { @@ -32,6 +34,7 @@ private: SpeechToText stt_; LLM llm_; TextToSpeech tts_; + VisionContext vision_; }; } // namespace r1_voice diff --git a/r1/include/r1_voice/llm.hh b/r1/include/r1_voice/llm.hh index 68caebe..8bc054a 100644 --- a/r1/include/r1_voice/llm.hh +++ b/r1/include/r1_voice/llm.hh @@ -33,7 +33,8 @@ public: explicit LLM(LlmConfig config); std::string chat( - const std::string& user + const std::string& user, + const std::string& transient_context = {} ); private: diff --git a/r1/include/r1_voice/vision_context.hh b/r1/include/r1_voice/vision_context.hh new file mode 100644 index 0000000..ad033bb --- /dev/null +++ b/r1/include/r1_voice/vision_context.hh @@ -0,0 +1,37 @@ +#pragma once + +#include + +namespace r1_voice { + +struct VisionConfig { + std::string detections_path = + "/dev/shm/r1_detections.json"; + + // Reject YOLO output older than this. + double max_age_seconds = 2.5; + + double min_confidence = 0.35; +}; + +class VisionContext { +public: + explicit VisionContext( + VisionConfig config + ); + + bool isVisionQuestion( + const std::string& text + ) const; + + std::string buildContext() const; + +private: + VisionConfig config_; + + static std::string lowerAscii( + std::string text + ); +}; + +} // namespace r1_voice diff --git a/r1/scripts/start_all.sh b/r1/scripts/start_all.sh new file mode 100755 index 0000000..dc63783 --- /dev/null +++ b/r1/scripts/start_all.sh @@ -0,0 +1,108 @@ +#!/usr/bin/env bash +set -e + +PROJECT="$HOME/esarobotech/r1" +INTERFACE="${1:-enp3s0}" + +cd "$PROJECT" + +PIDS=() + +cleanup() { + echo + echo "[R1] Stopping all services..." + + for pid in "${PIDS[@]}"; do + if kill -0 "$pid" 2>/dev/null; then + kill "$pid" 2>/dev/null || true + fi + done + + wait 2>/dev/null || true + + echo "[R1] All services stopped." +} + +trap cleanup EXIT INT TERM + +echo "======================================" +echo " R1 complete stack" +echo "======================================" +echo "Interface: $INTERFACE" +echo + +echo "[R1] Starting camera..." +./scripts/start_camera.sh "$INTERFACE" & +PIDS+=("$!") + +sleep 1 + +echo "[R1] Starting YOLO..." +./scripts/start_yolo.sh & +PIDS+=("$!") + +sleep 1 + +echo "[R1] Starting LLM..." +./scripts/start_llm.sh & +PIDS+=("$!") + +echo "[R1] Waiting for LLM server..." + +for i in {1..60}; do + if curl -fsS \ + http://127.0.0.1:8080/health \ + >/dev/null 2>&1; then + + echo "[R1] LLM ready." + break + fi + + sleep 1 + + if [[ "$i" -eq 60 ]]; then + echo "[ERROR] LLM failed to become ready." + exit 1 + fi +done + +echo "[R1] Waiting for camera frame..." + +for i in {1..20}; do + if [[ -s /dev/shm/robot_frame.jpg ]]; then + echo "[R1] Camera ready." + break + fi + + sleep 0.5 + + if [[ "$i" -eq 20 ]]; then + echo "[WARN] Camera frame not available yet." + fi +done + +echo "[R1] Starting voice assistant..." +./scripts/start_voice.sh "$INTERFACE" & +PIDS+=("$!") + +echo "[R1] Starting motion..." +./scripts/start_motion.sh "$INTERFACE" & +PIDS+=("$!") + +sleep 1 + +echo +echo "======================================" +echo " R1 stack running" +echo "======================================" +echo "Camera: /dev/shm/robot_frame.jpg" +echo "YOLO: /dev/shm/r1_detections.json" +echo "LLM: http://127.0.0.1:8080" +echo +echo "Press Ctrl+C to stop everything." +echo + +# Wait until one service exits. +wait -n "${PIDS[@]}" + +echo "[R1] A service exited; shutting down the stack." diff --git a/r1/scripts/start_camera.sh b/r1/scripts/start_camera.sh new file mode 100755 index 0000000..ef77c42 --- /dev/null +++ b/r1/scripts/start_camera.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +set -e + +PROJECT="$HOME/esarobotech/r1" +INTERFACE="${1:-enp3s0}" + +cd "$PROJECT" + +echo "[R1] Starting camera on $INTERFACE" + +exec ./build/r1_vision_node "$INTERFACE" diff --git a/r1/scripts/start_llm.sh b/r1/scripts/start_llm.sh new file mode 100755 index 0000000..f6df16b --- /dev/null +++ b/r1/scripts/start_llm.sh @@ -0,0 +1,14 @@ +#!/usr/bin/env bash +set -e + +LLAMA="$HOME/esarobotech/llama.cpp" + +cd "$LLAMA" + +echo "[R1] Starting Qwen LLM on port 8080" + +exec ./build/bin/llama-server \ + -hf Mungert/Qwen3-8B-abliterated-GGUF:Q4_K_M \ + -c 8192 \ + --host 127.0.0.1 \ + --port 8080 diff --git a/r1/scripts/start_motion.sh b/r1/scripts/start_motion.sh new file mode 100755 index 0000000..95594b7 --- /dev/null +++ b/r1/scripts/start_motion.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env bash +set -e + +PROJECT="$HOME/esarobotech/r1" +CONDA="$HOME/miniconda3" + +INTERFACE="${1:-enp3s0}" + +source "$CONDA/etc/profile.d/conda.sh" +conda activate ai_robot + +cd "$PROJECT" + +echo "[R1] Starting motion controller" +echo "[R1] Mode: person head tracking" +echo "[R1] Interface: $INTERFACE" + +exec ./build/r1_motion_node \ + "$INTERFACE" diff --git a/r1/scripts/start_voice.sh b/r1/scripts/start_voice.sh new file mode 100755 index 0000000..68d0acd --- /dev/null +++ b/r1/scripts/start_voice.sh @@ -0,0 +1,27 @@ +#!/usr/bin/env bash +set -e + +PROJECT="$HOME/esarobotech/r1" +CONDA="$HOME/miniconda3" + +INTERFACE="${1:-enp3s0}" + +WHISPER="$HOME/esarobotech/whisper.cpp/build/bin/whisper-cli" +MODEL="$HOME/esarobotech/whisper.cpp/models/ggml-medium.bin" +LLM_URL="http://127.0.0.1:8080/v1/chat/completions" + +source "$CONDA/etc/profile.d/conda.sh" +conda activate ai_robot + +cd "$PROJECT" + +echo "[R1] Starting voice assistant" +echo "[R1] Interface: $INTERFACE" +echo "[R1] Whisper: $MODEL" +echo "[R1] LLM: $LLM_URL" + +exec ./build/r1_voice \ + "$INTERFACE" \ + "$WHISPER" \ + "$MODEL" \ + "$LLM_URL" diff --git a/r1/scripts/start_yolo.sh b/r1/scripts/start_yolo.sh new file mode 100755 index 0000000..263b771 --- /dev/null +++ b/r1/scripts/start_yolo.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +PROJECT="$HOME/esarobotech/r1" +CONDA="$HOME/miniconda3" + +source "$CONDA/etc/profile.d/conda.sh" +conda activate ai_robot + +cd "$PROJECT" + +echo "[R1] Starting YOLO detector" +echo "[R1] Input: /dev/shm/robot_frame.jpg" +echo "[R1] Output: /dev/shm/r1_detections.json" + +exec python scripts/yolo_detector.py diff --git a/r1/scripts/yolo_detector.py b/r1/scripts/yolo_detector.py index 473a0f4..1500ddf 100644 --- a/r1/scripts/yolo_detector.py +++ b/r1/scripts/yolo_detector.py @@ -0,0 +1,149 @@ +#!/usr/bin/env python3 + +import json +import os +import tempfile +import time +from pathlib import Path + +from ultralytics import YOLO + + +IMAGE_PATH = Path("/dev/shm/robot_frame.jpg") +OUTPUT_PATH = Path("/dev/shm/r1_detections.json") + +MODEL = "yolo26n.pt" + +CONFIDENCE = 0.35 +IMAGE_SIZE = 640 + + +def atomic_write_json(path: Path, data): + with tempfile.NamedTemporaryFile( + mode="w", + dir=path.parent, + delete=False, + suffix=".tmp", + ) as f: + json.dump( + data, + f, + ensure_ascii=False, + indent=2, + ) + + tmp = f.name + + os.replace(tmp, path) + + +def main(): + print(f"[YOLO] Loading {MODEL}") + + model = YOLO(MODEL) + + print("[YOLO] Ready") + print(f"[YOLO] Camera: {IMAGE_PATH}") + print(f"[YOLO] Output: {OUTPUT_PATH}") + + last_mtime = None + + while True: + try: + if not IMAGE_PATH.exists(): + time.sleep(0.05) + continue + + mtime = IMAGE_PATH.stat().st_mtime_ns + + if mtime == last_mtime: + time.sleep(0.01) + continue + + last_mtime = mtime + + results = model.predict( + source=str(IMAGE_PATH), + conf=CONFIDENCE, + imgsz=IMAGE_SIZE, + verbose=False, + ) + + if not results: + continue + + result = results[0] + + height, width = result.orig_shape + + detections = [] + + if result.boxes is not None: + for box in result.boxes: + class_id = int(box.cls[0]) + confidence = float(box.conf[0]) + + x1, y1, x2, y2 = [ + float(v) + for v in box.xyxy[0] + ] + + cx = (x1 + x2) / 2.0 + cy = (y1 + y2) / 2.0 + + detections.append({ + "class_id": class_id, + "class": result.names[class_id], + "confidence": confidence, + + "box": { + "x1": x1, + "y1": y1, + "x2": x2, + "y2": y2, + }, + + "center": { + "x": cx, + "y": cy, + }, + + "normalized_center": { + "x": cx / width, + "y": cy / height, + }, + }) + + data = { + "timestamp": time.time(), + "width": width, + "height": height, + "detections": detections, + } + + atomic_write_json( + OUTPUT_PATH, + data, + ) + + objects = ", ".join( + f"{d['class']} {d['confidence']:.2f}" + for d in detections + ) + + if objects: + print(f"[YOLO] {objects}") + else: + print("[YOLO] no objects") + + except KeyboardInterrupt: + print("\n[YOLO] stopped") + break + + except Exception as e: + print(f"[YOLO] error: {e}") + time.sleep(0.25) + + +if __name__ == "__main__": + main() diff --git a/r1/src/conversation.cc b/r1/src/conversation.cc index 8ef9d57..964da4e 100644 --- a/r1/src/conversation.cc +++ b/r1/src/conversation.cc @@ -1,8 +1,7 @@ #include "r1_voice/conversation.hh" -#include #include -#include +#include namespace r1_voice { @@ -12,6 +11,7 @@ Conversation::Conversation( , stt_(config_.stt) , llm_(config_.llm) , tts_(config_.tts) + , vision_(config_.vision) { } @@ -34,15 +34,13 @@ void Conversation::run() << "Press Ctrl+C to exit.\n" << '\n'; + /* + * speak() already blocks until playback is done. + */ tts_.speak( "Ahoj. Jsem připraven." ); - // Give TTS time to finish before listening. - std::this_thread::sleep_for( - std::chrono::seconds(2) - ); - while (true) { const std::string user = @@ -53,32 +51,39 @@ void Conversation::run() try { - const std::string response = - llm_.chat(user); + std::string response; + + if (vision_.isVisionQuestion(user)) { + + const std::string vision_context = + vision_.buildContext(); + + std::cout + << "[VISION] Visual question detected\n" + << "[VISION] " + << vision_context + << '\n'; + + response = + llm_.chat( + user, + vision_context + ); + } + else { + + response = + llm_.chat(user); + } if (response.empty()) continue; - tts_.speak(response); - /* - * Avoid immediately hearing the robot's - * own TTS output as the next user utterance. - * - * Later we can replace this with proper - * audio echo suppression / playback state. + * speak() handles the complete playback + * wait internally. */ - const int estimated_ms = - 1000 + - static_cast( - response.size() * 50 - ); - - std::this_thread::sleep_for( - std::chrono::milliseconds( - estimated_ms - ) - ); + tts_.speak(response); } catch (const std::exception& e) { @@ -90,10 +95,6 @@ void Conversation::run() tts_.speak( "Promiň, při zpracování odpovědi nastala chyba." ); - - std::this_thread::sleep_for( - std::chrono::seconds(2) - ); } } } diff --git a/r1/src/llm.cc b/r1/src/llm.cc index ac04685..70a242e 100644 --- a/r1/src/llm.cc +++ b/r1/src/llm.cc @@ -297,7 +297,8 @@ static std::string removeThinkBlocks( } std::string LLM::chat( - const std::string& user) + const std::string& user, + const std::string& transient_context) { history_.push_back({ "user", @@ -317,10 +318,31 @@ std::string LLM::chat( << '{' << "\"role\":\"system\"," << "\"content\":\"" - << escapeJson(config_.system_prompt) + << escapeJson( + config_.system_prompt + ) << "\"" << '}'; + /* + * Temporary context such as current YOLO detections. + * + * It is sent as another system message but is NOT + * stored in history. + */ + if (!transient_context.empty()) { + + body + << ",{" + << "\"role\":\"system\"," + << "\"content\":\"" + << escapeJson( + transient_context + ) + << "\"" + << '}'; + } + const size_t begin = history_.size() > 12 ? history_.size() - 12 @@ -362,8 +384,29 @@ std::string LLM::chat( << '}'; - const std::string response = - httpPost(body.str()); + std::string response; + + try { + response = + httpPost( + body.str() + ); + } + catch (...) { + + /* + * Don't leave a failed user request in + * conversation history. + */ + if (!history_.empty() && + history_.back().role == "user" && + history_.back().content == user) { + + history_.pop_back(); + } + + throw; + } std::string answer = parseContent(response); @@ -372,6 +415,7 @@ std::string LLM::chat( removeThinkBlocks(answer); if (answer.empty()) { + std::cerr << "LLM returned empty content:\n" << response diff --git a/r1/src/motion_node.cc b/r1/src/motion_node.cc new file mode 100644 index 0000000..08d6a81 --- /dev/null +++ b/r1/src/motion_node.cc @@ -0,0 +1,483 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace { + +std::atomic running{true}; + +void signalHandler(int) +{ + running = false; +} + +struct PersonDetection { + bool valid = false; + float confidence = 0.0f; + float x = 0.5f; + float y = 0.5f; +}; + +std::string readFile(const std::string& path) +{ + std::ifstream file(path); + + if (!file) + return {}; + + std::ostringstream out; + out << file.rdbuf(); + + return out.str(); +} + +PersonDetection readBestPerson( + const std::string& path) +{ + const std::string json = + readFile(path); + + PersonDetection best; + + if (json.empty()) + return best; + + /* + * Matches our yolo_detector.py output: + * + * "class": "person", + * "confidence": 0.95, + * ... + * "normalized_center": { + * "x": 0.51, + * "y": 0.43 + * } + */ + static const std::regex personRegex( + R"REGEX( +"class"\s*:\s*"person" +[\s\S]*? +"confidence"\s*:\s*([0-9.]+) +[\s\S]*? +"normalized_center"\s*:\s*\{ +\s*"x"\s*:\s*([0-9.]+) +\s*,\s* +"y"\s*:\s*([0-9.]+) +)REGEX", + std::regex::ECMAScript + ); + + auto begin = + std::sregex_iterator( + json.begin(), + json.end(), + personRegex + ); + + auto end = + std::sregex_iterator(); + + for (auto it = begin; + it != end; + ++it) { + + try { + const float confidence = + std::stof((*it)[1].str()); + + const float x = + std::stof((*it)[2].str()); + + const float y = + std::stof((*it)[3].str()); + + if (!best.valid || + confidence > best.confidence) { + + best.valid = true; + best.confidence = confidence; + best.x = x; + best.y = y; + } + } + catch (...) { + } + } + + return best; +} + +class HeadTracker { +public: + explicit HeadTracker( + const std::string& interface) + { + unitree::robot::ChannelFactory:: + Instance()->Init( + 0, + interface + ); + + lowstate_ = + std::make_shared< + unitree::robot::g1::subscription::LowState + >(); + + std::cout + << "[MOTION] Waiting for lowstate...\n"; + + lowstate_->wait_for_connection(); + + armsdk_ = + std::make_unique< + unitree::robot::r1::publisher::ArmSdk + >(); + + std::cout + << "[MOTION] Connected to R1\n"; + + initialize(); + } + + ~HeadTracker() + { + release(); + } + + void run() + { + constexpr char DETECTIONS[] = + "/dev/shm/r1_detections.json"; + + while (running) { + + const PersonDetection person = + readBestPerson( + DETECTIONS + ); + + if (person.valid && + person.confidence >= 0.50f) { + + track(person); + } + + publish(); + + std::this_thread::sleep_for( + std::chrono::milliseconds(20) + ); + } + } + +private: + std::shared_ptr< + unitree::robot::g1::subscription::LowState + > lowstate_; + + std::unique_ptr< + unitree::robot::r1::publisher::ArmSdk + > armsdk_; + + Eigen::VectorXf q_des_; + + /* + * ArmSdk::JOINTS ordering on R1: + * + * 0-4 left arm + * 5-9 right arm + * 10 waist yaw + * 11 head pitch + * 12 head yaw + */ + static constexpr int HEAD_PITCH = 11; + static constexpr int HEAD_YAW = 12; + + /* + * Start conservatively. + * + * We can widen these after verifying direction + * and mechanical range on your R1. + */ + static constexpr float MAX_YAW = + 0.70f; + + static constexpr float MAX_PITCH = + 0.25f; + + /* + * Camera control. + */ + static constexpr float DEAD_ZONE_X = + 0.07f; + + static constexpr float DEAD_ZONE_Y = + 0.08f; + + /* + * Maximum movement per 20 ms update. + * + * 0.012 rad * 50 Hz ~= 0.6 rad/s. + */ + static constexpr float MAX_YAW_STEP = + 0.012f; + + static constexpr float MAX_PITCH_STEP = + 0.008f; + + /* + * If the head moves AWAY from the person, + * flip one of these signs. + */ + static constexpr float YAW_SIGN = + -1.0f; + + static constexpr float PITCH_SIGN = + 1.0f; + + const std::vector kp_ = { + 50, 50, 40, 40, 30, + 50, 50, 40, 40, 30, + 50, + 15, + 15 + }; + + const std::vector kd_ = { + 2, 2, 2, 2, 2, + 2, 2, 2, 2, 2, + 3, + 1, + 1 + }; + + void initialize() + { + armsdk_->weight(1.0f); + + q_des_.resize( + armsdk_->JOINTS.size() + ); + + for (size_t i = 0; + i < armsdk_->JOINTS.size(); + ++i) { + + const int joint = + static_cast( + armsdk_->JOINTS[i] + ); + + const float current = + lowstate_ + ->msg_ + .motor_state() + .at(joint) + .q(); + + q_des_[i] = current; + + auto& command = + armsdk_ + ->msg_ + .motor_cmd() + .at(joint); + + command.q(current); + command.dq(0.0f); + command.tau(0.0f); + + command.kp( + kp_.at(i) + ); + + command.kd( + kd_.at(i) + ); + } + + armsdk_->unlockAndPublish(); + + std::cout + << "[MOTION] ArmSdk enabled\n" + << "[MOTION] Initial head pitch: " + << q_des_[HEAD_PITCH] + << " rad\n" + << "[MOTION] Initial head yaw: " + << q_des_[HEAD_YAW] + << " rad\n"; + } + + void track( + const PersonDetection& person) + { + float error_x = + person.x - 0.5f; + + float error_y = + person.y - 0.5f; + + if (std::abs(error_x) < + DEAD_ZONE_X) { + + error_x = 0.0f; + } + + if (std::abs(error_y) < + DEAD_ZONE_Y) { + + error_y = 0.0f; + } + + const float yaw_step = + YAW_SIGN * + std::clamp( + error_x * 0.05f, + -MAX_YAW_STEP, + MAX_YAW_STEP + ); + + const float pitch_step = + PITCH_SIGN * + std::clamp( + error_y * 0.04f, + -MAX_PITCH_STEP, + MAX_PITCH_STEP + ); + + q_des_[HEAD_YAW] = + std::clamp( + q_des_[HEAD_YAW] + + yaw_step, + + -MAX_YAW, + MAX_YAW + ); + + q_des_[HEAD_PITCH] = + std::clamp( + q_des_[HEAD_PITCH] + + pitch_step, + + -MAX_PITCH, + MAX_PITCH + ); + } + + void publish() + { + for (size_t i = 0; + i < armsdk_->JOINTS.size(); + ++i) { + + const int joint = + static_cast( + armsdk_->JOINTS[i] + ); + + armsdk_ + ->msg_ + .motor_cmd() + .at(joint) + .q(q_des_[i]); + } + + armsdk_->unlockAndPublish(); + } + + void release() + { + if (!armsdk_) + return; + + std::cout + << "[MOTION] Releasing ArmSdk...\n"; + + for (int step = 20; + step >= 0; + --step) { + + const float weight = + static_cast(step) / + 20.0f; + + armsdk_->weight(weight); + armsdk_->unlockAndPublish(); + + std::this_thread::sleep_for( + std::chrono::milliseconds(25) + ); + } + + std::cout + << "[MOTION] Released\n"; + } +}; + +} // namespace + + +int main( + int argc, + char** argv) +{ + if (argc < 2) { + + std::cerr + << "Usage: " + << argv[0] + << " \n"; + + return 1; + } + + std::signal( + SIGINT, + signalHandler + ); + + std::signal( + SIGTERM, + signalHandler + ); + + try { + + HeadTracker tracker( + argv[1] + ); + + std::cout + << "[MOTION] Person tracking active\n" + << "[MOTION] Ctrl+C to stop\n"; + + tracker.run(); + } + catch (const std::exception& e) { + + std::cerr + << "[MOTION] Error: " + << e.what() + << '\n'; + + return 1; + } + + return 0; +} diff --git a/r1/src/r1_hand_calibrate.cc b/r1/src/r1_hand_calibrate.cc index 1ac2247..fec9a0e 100644 --- a/r1/src/r1_hand_calibrate.cc +++ b/r1/src/r1_hand_calibrate.cc @@ -5,11 +5,12 @@ #include #include +#include #include -#include "r1_vision/robot_common.hpp" -#include "r1_vision/kinematics.hpp" +#include "robot_common.hh" +#include "r1_vision/pinocchio_kinematics.hh" using namespace r1_vision; @@ -40,7 +41,7 @@ int main(int argc, char** argv) { return 1; } - cv::FileStorage fs(argv[2], cv::FILE_STORAGE_READ); + cv::FileStorage fs(argv[2], cv::FileStorage::READ); if (!fs.isOpened()) { std::cerr << "Cannot open intrinsics: " << argv[2] << std::endl; return 1; @@ -192,7 +193,7 @@ int main(int argc, char** argv) { const std::string output = "/home/jvizner/r1_camera_calibration/camera_extrinsics.yaml"; - cv::FileStorage out(output, cv::FILE_STORAGE_WRITE); + cv::FileStorage out(output, cv::FileStorage::WRITE); out << "camera_matrix" << K; out << "distortion" << D; out << "rotation_robot_to_camera" << R; diff --git a/r1/src/vision_context.cc b/r1/src/vision_context.cc new file mode 100644 index 0000000..711f4b5 --- /dev/null +++ b/r1/src/vision_context.cc @@ -0,0 +1,334 @@ +#include "r1_voice/vision_context.hh" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace r1_voice { + +namespace { + +struct Detection { + std::string name; + double confidence = 0.0; +}; + +std::string readFile( + const std::string& path) +{ + std::ifstream file(path); + + if (!file) + return {}; + + std::ostringstream out; + out << file.rdbuf(); + + return out.str(); +} + +bool parseTimestamp( + const std::string& json, + double& timestamp) +{ + static const std::regex expression( + R"("timestamp"\s*:\s*([0-9]+(?:\.[0-9]+)?))" + ); + + std::smatch match; + + if (!std::regex_search( + json, + match, + expression)) { + + return false; + } + + try { + timestamp = + std::stod(match[1].str()); + + return true; + } + catch (...) { + return false; + } +} + +std::vector parseDetections( + const std::string& json, + double min_confidence) +{ + std::vector detections; + + /* + * Expected JSON: + * + * "class": "person", + * "confidence": 0.95 + */ + static const std::regex expression( + R"REGEX("class"\s*:\s*"([^"]+)"[\s\S]*?"confidence"\s*:\s*([0-9]+(?:\.[0-9]+)?))REGEX" + ); + + auto begin = + std::sregex_iterator( + json.begin(), + json.end(), + expression + ); + + const auto end = + std::sregex_iterator(); + + for (auto it = begin; + it != end; + ++it) { + + Detection detection; + + detection.name = + (*it)[1].str(); + + try { + detection.confidence = + std::stod( + (*it)[2].str() + ); + } + catch (...) { + continue; + } + + if (detection.confidence < + min_confidence) { + + continue; + } + + detections.push_back( + std::move(detection) + ); + } + + return detections; +} + +} // namespace + +VisionContext::VisionContext( + VisionConfig config) + : config_(std::move(config)) +{ +} + +std::string VisionContext::lowerAscii( + std::string text) +{ + for (char& c : text) { + if (c >= 'A' && c <= 'Z') { + c = + static_cast( + c - 'A' + 'a' + ); + } + } + + return text; +} + +bool VisionContext::isVisionQuestion( + const std::string& text) const +{ + const std::string lower = + lowerAscii(text); + + static const std::vector + triggers = { + + // Czech + "co vidíš", + "co vidis", + + "vidíš", + "vidis", + + "vidět", + "videt", + + "podívej", + "podivej", + + "koukni", + "koukáš", + "koukas", + + "před tebou", + "pred tebou", + + "před sebou", + "pred sebou", + + "co je před", + "co je pred", + + "kolik lidí", + "kolik lidi", + + "jakou barvu", + "kamera", + + // English + "what do you see", + "can you see", + "do you see", + "look at", + "in front of you", + "how many people", + "camera" + }; + + for (const auto& trigger : triggers) { + if (lower.find(trigger) != + std::string::npos) { + + return true; + } + } + + return false; +} + +std::string VisionContext::buildContext() const +{ + const std::string json = + readFile( + config_.detections_path + ); + + if (json.empty()) { + return + "Camera vision information is currently " + "unavailable because there is no fresh " + "YOLO detection file. " + "Do not invent anything about what you see."; + } + + double timestamp = 0.0; + + if (!parseTimestamp( + json, + timestamp)) { + + return + "Camera vision information is unavailable " + "because the YOLO output is invalid. " + "Do not invent visual information."; + } + + const double now = + static_cast( + std::time(nullptr) + ); + + const double age = + now - timestamp; + + if (age < -1.0 || + age > config_.max_age_seconds) { + + std::ostringstream out; + + out + << "Camera vision information is stale " + << "(approximately " + << std::fixed + << std::setprecision(1) + << age + << " seconds old). " + << "Do not claim to currently see objects."; + + return out.str(); + } + + const auto detections = + parseDetections( + json, + config_.min_confidence + ); + + if (detections.empty()) { + return + "The current camera frame is fresh. " + "YOLO did not detect any known objects. " + "This does not prove that the scene is empty. " + "Do not invent objects."; + } + + std::map counts; + + for (const auto& detection : + detections) { + + ++counts[detection.name]; + } + + std::ostringstream out; + + out + << "You are R1 and this is CURRENT information " + << "from your camera's YOLO detector. " + << "Use only these detections when answering " + << "visual questions. " + << "YOLO detects object classes, not actions, " + << "text, exact colors, identity, or intent. " + << "If the user asks for something YOLO cannot " + << "determine, say that you cannot determine it " + << "from the object detector yet. " + << "Current detected objects: "; + + bool first = true; + + for (const auto& [name, count] : + counts) { + + if (!first) + out << ", "; + + first = false; + + out + << count + << " x " + << name; + } + + out << ". Detection details: "; + + for (size_t i = 0; + i < detections.size(); + ++i) { + + if (i != 0) + out << ", "; + + out + << detections[i].name + << " confidence " + << std::fixed + << std::setprecision(2) + << detections[i].confidence; + } + + out << '.'; + + return out.str(); +} + +} // namespace r1_voice diff --git a/r1/src/voice_node.cc b/r1/src/voice_node.cc index 8607c5a..8feb3e6 100644 --- a/r1/src/voice_node.cc +++ b/r1/src/voice_node.cc @@ -82,7 +82,7 @@ int main( config.llm.max_tokens = 80; config.llm.system_prompt = - "Jsi R1, humanoidní robot. " + "Jsi ESO 2, humanoidní robot. " "Mluv česky, pokud uživatel mluví česky. " "Odpovídej stručně a přirozeně, obvykle jednou až dvěma větami. " "Pokud je vstup zjevně nesrozumitelný nebo poškozený rozpoznáváním řeči, " diff --git a/r1/yolo26n.pt b/r1/yolo26n.pt new file mode 100644 index 0000000..6c61584 Binary files /dev/null and b/r1/yolo26n.pt differ