From 8d88495f6f762a81755890a3dde1d9fcad8d1494cb021307931b6e31ad535ec2 Mon Sep 17 00:00:00 2001 From: Jaroslav Vizner Date: Fri, 28 Aug 2026 10:10:18 +0200 Subject: [PATCH] add r1 robot project --- .gitignore | 4 + r1/CMakeLists.txt | 183 + r1/README.md | 89 + r1/build/CMakeCache.txt | 814 +++ .../CMakeFiles/3.22.1/CMakeCCompiler.cmake | 73 + .../CMakeFiles/3.22.1/CMakeCXXCompiler.cmake | 84 + .../3.22.1/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 16552 bytes .../3.22.1/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 16576 bytes r1/build/CMakeFiles/3.22.1/CMakeSystem.cmake | 15 + .../3.22.1/CompilerIdC/CMakeCCompilerId.c | 803 +++ r1/build/CMakeFiles/3.22.1/CompilerIdC/a.out | Bin 0 -> 16848 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 791 +++ .../CMakeFiles/3.22.1/CompilerIdCXX/a.out | Bin 0 -> 16856 bytes .../CMakeDirectoryInformation.cmake | 16 + r1/build/CMakeFiles/CMakeOutput.log | 913 ++++ .../FindOpenMP/OpenMPCheckVersion.c | 17 + .../FindOpenMP/OpenMPCheckVersion.cpp | 17 + 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100644 r1/src/voice_node.cc diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1bec4c9 --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +llama.cpp +whisper.cpp +unitree_sdk2 +piper diff --git a/r1/CMakeLists.txt b/r1/CMakeLists.txt new file mode 100644 index 0000000..f358389 --- /dev/null +++ b/r1/CMakeLists.txt @@ -0,0 +1,183 @@ +cmake_minimum_required(VERSION 3.16) + +project(r1_vision LANGUAGES CXX) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) + +option(BUILD_VISION "Build vision components" ON) +option(BUILD_VOICE "Build R1 voice assistant" ON) + +set(UNITREE_SDK2_DIR + "/home/jvizner/unitree_sdk2" + CACHE PATH "Path to unitree_sdk2" +) + +# ============================================================ +# Unitree SDK2 +# ============================================================ + +if(BUILD_VISION OR BUILD_VOICE) + + if(NOT EXISTS "${UNITREE_SDK2_DIR}/CMakeLists.txt") + message(FATAL_ERROR + "Invalid UNITREE_SDK2_DIR: ${UNITREE_SDK2_DIR}" + ) + endif() + + add_subdirectory( + "${UNITREE_SDK2_DIR}" + "${CMAKE_BINARY_DIR}/unitree_sdk2" + EXCLUDE_FROM_ALL + ) + +endif() + +# ============================================================ +# Vision +# ============================================================ + +if(BUILD_VISION) + + find_package(Eigen3 REQUIRED) + + find_package(OpenCV REQUIRED COMPONENTS + core + imgproc + highgui + imgcodecs + ) + + find_package(pinocchio REQUIRED) + + add_library(r1_vision_common INTERFACE) + + target_include_directories( + r1_vision_common + INTERFACE + "${CMAKE_CURRENT_SOURCE_DIR}/include" + "${UNITREE_SDK2_DIR}/include" + ) + + target_link_libraries( + r1_vision_common + INTERFACE + Eigen3::Eigen + pinocchio::pinocchio + ${OpenCV_LIBS} + unitree_sdk2 + ) + + target_compile_definitions( + r1_vision_common + INTERFACE + UNITREE_SDK2_DIR="${UNITREE_SDK2_DIR}" + ) + + add_executable( + vision_node + src/vision_node.cc + ) + + target_link_libraries( + vision_node + PRIVATE + r1_vision_common + ) + + add_executable( + r1_hand_calibrate + src/r1_hand_calibrate.cc + ) + + target_link_libraries( + r1_hand_calibrate + PRIVATE + r1_vision_common + ) + +endif() + +# ============================================================ +# Voice +# ============================================================ + +if(BUILD_VOICE) + + find_package(CURL REQUIRED) + + add_executable( + r1_voice + + src/voice_node.cc + src/stt.cc + src/llm.cc + src/tts.cc + src/conversation.cc + ) + + add_executable( + r1_mic_test + src/r1_mic_test.cc +) + +target_include_directories( + r1_mic_test + PRIVATE + "${UNITREE_SDK2_DIR}/include" +) + + target_include_directories( + r1_voice + PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/include" + "${UNITREE_SDK2_DIR}/include" + ) + + target_link_libraries( + r1_voice + PRIVATE + unitree_sdk2 + CURL::libcurl + ) + +endif() + +# ============================================================ +# Install +# ============================================================ + +set(INSTALL_TARGETS "") + +if(BUILD_VISION) + list(APPEND INSTALL_TARGETS + vision_node + r1_hand_calibrate + ) +endif() + +if(BUILD_VOICE) + list(APPEND INSTALL_TARGETS + r1_voice + ) +endif() + +install( + TARGETS ${INSTALL_TARGETS} + RUNTIME DESTINATION bin +) + +if(BUILD_VISION) + + install( + DIRECTORY config/ + DESTINATION share/r1_vision/config + ) + + install( + PROGRAMS scripts/yolo_detector.py + DESTINATION share/r1_vision/scripts + ) + +endif() diff --git a/r1/README.md b/r1/README.md new file mode 100644 index 0000000..02449cb --- /dev/null +++ b/r1/README.md @@ -0,0 +1,89 @@ +# R1 Vision / Visual Servo Prototype + +Standalone project for the Unitree R1. The Unitree SDK remains an external dependency. + +## Layout + +- `src/vision_node.cpp` — Unitree camera frames -> atomic `/dev/shm/robot_frame.jpg` +- `scripts/yolo_detector.py` — YOLO bottle detection -> `/dev/shm/robot_detection.json` +- `src/r1_hand_calibrate.cpp` — Pinocchio wrist + clicked wrist pixels -> camera extrinsics +- `src/r1_visual_servo.cpp` — YOLO bottle target + Pinocchio wrist projection -> image-space visual servo +- `include/r1_vision/robot_common.hpp` — 500 Hz `rt/lowcmd` controller +- `include/r1_vision/kinematics.hpp` — R1 joint state -> Pinocchio configuration / frame Jacobians +- `include/r1_vision/vision_io.hpp` — detection JSON reader +- `config/` — calibration files + +## Dependencies + +Assumes: + +- Unitree SDK2 is built at `/home/jvizner/unitree_sdk2` +- R1 URDF is at `/home/jvizner/unitree_ros/robots/r1_description/R1.urdf` +- OpenCV, Eigen3, Pinocchio, C++17 +- Python environment with Ultralytics + OpenCV + NumPy + +Override the SDK path when configuring: + +```bash +cmake -S . -B build -DUNITREE_SDK2_DIR=/home/jvizner/unitree_sdk2 +``` + +Build: + +```bash +cmake --build build -j$(nproc) +``` + +## Camera / YOLO + +Start the camera: + +```bash +./build/vision_node enp3s0 +``` + +Start YOLO in your `ai_robot` environment: + +```bash +python scripts/yolo_detector.py +``` + +The detector defaults to `yolo26m.pt` and class `bottle`. Override with: + +```bash +R1_YOLO_MODEL=yolo26m.pt R1_TARGET_CLASS=bottle python scripts/yolo_detector.py +``` + +## Existing intrinsic calibration + +Copy your known-good intrinsic calibration into `config/camera_intrinsics.yaml` or pass its path to the hand calibrator: + +```bash +./build/r1_hand_calibrate enp3s0 /home/jvizner/r1_camera_calibration/camera_intrinsics.yaml +``` + +The calibrator uses the left wrist as the 3D reference point. Collect at least 8, preferably 12-15, distinct wrist poses. Click the same physical wrist point every time and press `c`. + +It writes: + +```text +/home/jvizner/r1_camera_calibration/camera_extrinsics.yaml +``` + +## Visual servo + +The servo is **dry-run by default**. It calculates `dq` but does not move the robot. + +Run: + +```bash +./build/r1_visual_servo enp3s0 /home/jvizner/r1_camera_calibration/camera_extrinsics.yaml +``` + +Only enable motion explicitly after validating the predicted wrist pixel: + +```bash +ENABLE_MOTION=1 ./build/r1_visual_servo enp3s0 /home/jvizner/r1_camera_calibration/camera_extrinsics.yaml +``` + +The first runtime target is left wrist -> detected bottle center. It controls left shoulder pitch/roll/yaw/elbow only. diff --git a/r1/build/CMakeCache.txt b/r1/build/CMakeCache.txt new file mode 100644 index 0000000..fbfbcc7 --- /dev/null +++ b/r1/build/CMakeCache.txt @@ -0,0 +1,814 @@ +# This is the CMakeCache file. +# For build in directory: /home/jvizner/esarobotech/r1/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build examples +BUILD_EXAMPLES:BOOL=ON + +//Build vision components +BUILD_VISION:BOOL=OFF + +//Build R1 voice assistant +BUILD_VOICE:BOOL=ON + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/Boost-1.90.0 + +//Boost filesystem library (debug) +Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libboost_filesystem.so + +//Boost filesystem library (release) +Boost_FILESYSTEM_LIBRARY_RELEASE:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libboost_filesystem.so + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/include + +//Boost library directory DEBUG +Boost_LIBRARY_DIR_DEBUG:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib + +//Boost library directory RELEASE +Boost_LIBRARY_DIR_RELEASE:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib + +Boost_PROGRAM_OPTIONS_LIBRARY_RELEASE:STRING=/home/jvizner/miniconda3/envs/ai_robot/lib/libboost_program_options.so.1.90.0 + +//Boost serialization library (debug) 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Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/r1/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/r1/build/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000000000000000000000000000..aa9d4866525e7f19996a0bd5176d467c119fd227c93cc0d4ffc3ea45fdf7daa9 GIT binary patch literal 16848 zcmeHOZ)_Y#6`#8#txMh5O&jVqKsO~o3V3~I$F6%-+Or+o=gRp*lD1T7*sSl?zNL42 z*4Ng7F3(ybH4{fSIC@n&Xgw%etP%62i&>%{oE#!D_=KU_` z4*=?AtD9+z08G@`DR@c$d zQn#wBNM5fwqt6;3tx2yWS7L|o>j>Gehcj*P1BO;Ww2+bgR!cc<5GA0J^I*RXtPnYh zWvKuNeX~A`ohe!R*uj!Sh zf7Bz90+V-Yp<4}|vg-$mWsb{`nw*{*9dr8aetWQ)AK0P#ij}h0_t{7MM+2|gSM~!x zUkM8CK%W;pQtNYlr&^h*gdA|?OdZ_q6uhc8=hs57dT{qxsSaG&D-c;I@&FUx%heyi{u zS)&IJxjVwIw~Sp+gtvsZB78>p?Gb)L_*8^HB>b6sluq2o_?jZU(89O&%kwR~48_{z zl@=cNAS;$y_|`s;dSZ+t5Jw=6KpcTM0&xW52*eTi|Bk?4x<2$y?%3-cxsw~7@1tq+ zSI&gV#`)Z_Uv!++4Q~v-NOa>PzoBE-ty#+bkaDx9aaOrgn_pwU{I7B+H+4PRnIz&o 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COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/cassert + /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/assert.h + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.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/ddsrt/attributes.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_serdata.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/features.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/misc.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/time.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/config.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types.h + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdbool.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types/posix.h + /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/inttypes.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/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/ddsc/dds_public_qosdefs.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/retcode.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/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 + /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/ddsc/dds_public_impl.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/align.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.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/org/eclipse/cyclonedds/topic/hash.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/dds.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ddscore.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/types.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Time.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Duration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/dds/dds.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Reference.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/refmacros.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Exception.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp + /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 + /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 + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_initor.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_policy.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_decl.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/os.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/thread/thread.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/thread/future.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/thread/thread_decl.hpp + 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/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 + /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/ddsc/dds_public_impl.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/align.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.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/org/eclipse/cyclonedds/topic/hash.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/dds.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ddscore.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/types.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Time.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Duration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/dds/dds.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Reference.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/refmacros.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Exception.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp + /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 + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.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/ddsrt/attributes.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_serdata.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/features.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/misc.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/time.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/config.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types.h + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdbool.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types/posix.h + /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/inttypes.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/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/ddsc/dds_public_qosdefs.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/retcode.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/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 + /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/ddsc/dds_public_impl.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/align.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.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/org/eclipse/cyclonedds/topic/hash.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_policy_parameter.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_topic_channel.hpp + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/dds.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ddscore.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/types.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Time.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Duration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Value.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/dds/dds.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_basic_types.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_qos.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_error.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_status.h + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_listener.h + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/array.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Reference.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/refmacros.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/Exception.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntity.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp + /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 + 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/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 \ + 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/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 \ + /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 \ + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.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/ddsrt/attributes.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_serdata.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/features.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/misc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/time.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/config.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types.h \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdbool.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types/posix.h \ + /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/inttypes.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/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/ddsc/dds_public_qosdefs.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/retcode.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/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 \ + /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/ddsc/dds_public_impl.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/align.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.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/org/eclipse/cyclonedds/topic/hash.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.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 \ + 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/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 \ + 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/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 \ + 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/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 \ + /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 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/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 \ + /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 \ + 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/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 \ + /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 \ + 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/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 \ + 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/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 \ + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_initor.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_policy.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_decl.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/os.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/thread/thread.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/thread/future.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/thread/thread_decl.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/time/time_tool.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/thread/recurrent_thread.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/filesystem/file.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/filesystem/filesystem.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_store.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/log/log_writer.hpp \ + 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/home/jvizner/unitree_sdk2/include/unitree/robot/client/lease_client.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/go2/public/jsonize_type.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/r1/audio/audio_api.hpp + + +../src/voice_node.cc: + +/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/sys/wait.h: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/algorithm: + +../src/tts.cc: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/x86_64-conda-linux-gnu/bits/basic_file.h: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/tr1/hypergeometric.tcc: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/tr1/beta_function.tcc: + +/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/bits/iscanonical.h: + 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+/home/jvizner/miniconda3/envs/ai_robot/include/curl/system.h: + +../src/llm.cc: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/this_thread_sleep.h: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/chrono: + +/home/jvizner/unitree_sdk2/include/unitree/robot/go2/public/jsonize_type.hpp: + +/home/jvizner/unitree_sdk2/include/unitree/robot/client/lease_client.hpp: + +/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/bits/fstream.tcc: + +/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_policy.hpp: + +/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos.hpp: + +/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_callback.hpp: + +/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_error.hpp: + +/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_exception.hpp: + 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/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp \ + /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.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/ddsrt/attributes.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_serdata.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/features.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/misc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/time.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/config.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types.h \ + /home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/stdbool.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/types/posix.h \ + /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include/inttypes.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/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/ddsc/dds_public_qosdefs.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/retcode.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/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 \ + /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/ddsc/dds_public_impl.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/align.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_public_alloc.h \ + /home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.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/org/eclipse/cyclonedds/topic/hash.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.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 \ + 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/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 \ + 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/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 \ + 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/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 \ + /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 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+ /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/hash.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseStatus_.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_labor.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_factory.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_factory_model.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_parameter.hpp \ + /home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_parameter.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 \ + 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/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 \ + /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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robot_q) +{ + Eigen::VectorXd q = pinocchio::neutral(model); + + static const std::array names = { + "left_shoulder_pitch_joint", + "left_shoulder_roll_joint", + "left_shoulder_yaw_joint", + "left_elbow_joint", + "left_wrist_roll_joint", + "right_shoulder_pitch_joint", + "right_shoulder_roll_joint", + "right_shoulder_yaw_joint", + "right_elbow_joint", + "right_wrist_roll_joint", + "head_pitch_joint", + "head_yaw_joint" + }; + + for (int i = 0; i < 12; ++i) { + const int jid = model.getJointId(names[i]); + if (jid == 0) { + continue; + } + q[model.joints[jid].idx_q()] = robot_q[i]; + } + + return q; +} + +inline Eigen::Vector3d FramePosition( + pinocchio::Model& model, + pinocchio::Data& data, + const std::array& robot_q, + const std::string& frame_name) +{ + const Eigen::VectorXd q = MakePinocchioQ(model, robot_q); + const int frame_id = model.getFrameId(frame_name); + if (frame_id >= static_cast(model.frames.size())) { + throw std::runtime_error("Pinocchio frame not found: " + frame_name); + } + + pinocchio::forwardKinematics(model, data, q); + pinocchio::updateFramePlacements(model, data); + return data.oMf[frame_id].translation(); +} + +inline Eigen::MatrixXd FrameTranslationJacobian( + pinocchio::Model& model, + pinocchio::Data& data, + const std::array& robot_q, + const std::string& frame_name) +{ + const Eigen::VectorXd q = MakePinocchioQ(model, robot_q); + const int frame_id = model.getFrameId(frame_name); + if (frame_id >= static_cast(model.frames.size())) { + throw std::runtime_error("Pinocchio frame not found: " + frame_name); + } + + pinocchio::forwardKinematics(model, data, q); + pinocchio::updateFramePlacements(model, data); + + pinocchio::Data::Matrix6x J6(6, model.nv); + pinocchio::computeFrameJacobian( + model, + data, + q, + frame_id, + pinocchio::LOCAL_WORLD_ALIGNED, + J6); + + return J6.topRows(3); +} + +} // namespace r1_vision diff --git a/r1/include/r1_vision/robot_controller.hh b/r1/include/r1_vision/robot_controller.hh new file mode 100644 index 0000000..473a0f4 diff --git a/r1/include/r1_vision/vision.hh b/r1/include/r1_vision/vision.hh new file mode 100644 index 0000000..473a0f4 diff --git a/r1/include/r1_voice/conversation.hh b/r1/include/r1_voice/conversation.hh new file mode 100644 index 0000000..18fc68b --- /dev/null +++ b/r1/include/r1_voice/conversation.hh @@ -0,0 +1,37 @@ +#pragma once + +#include + +#include "r1_voice/llm.hh" +#include "r1_voice/stt.hh" +#include "r1_voice/tts.hh" + +namespace r1_voice { + +struct ConversationConfig { + SttConfig stt; + LlmConfig llm; + TtsConfig tts; +}; + +class Conversation { +public: + explicit Conversation( + ConversationConfig config + ); + + bool init( + const std::string& network_interface + ); + + void run(); + +private: + ConversationConfig config_; + + SpeechToText stt_; + LLM llm_; + TextToSpeech tts_; +}; + +} // namespace r1_voice diff --git a/r1/include/r1_voice/llm.hh b/r1/include/r1_voice/llm.hh new file mode 100644 index 0000000..68caebe --- /dev/null +++ b/r1/include/r1_voice/llm.hh @@ -0,0 +1,57 @@ +#pragma once + +#include +#include + +namespace r1_voice { + +struct ChatMessage { + std::string role; + std::string content; +}; + +struct LlmConfig { + std::string url = + "http://127.0.0.1:8080/v1/chat/completions"; + + std::string model = "local"; + + float temperature = 0.7f; + + int max_tokens = 256; + + std::string system_prompt = + "You are R1, a humanoid robot conversational assistant. " + "Talk naturally with the person in front of you. " + "Keep answers reasonably short because they will be spoken aloud. " + "Answer in the same language as the user. " + "Do not use markdown unless necessary."; +}; + +class LLM { +public: + explicit LLM(LlmConfig config); + + std::string chat( + const std::string& user + ); + +private: + LlmConfig config_; + + std::vector history_; + + std::string escapeJson( + const std::string& text + ) const; + + std::string parseContent( + const std::string& json + ) const; + + std::string httpPost( + const std::string& body + ) const; +}; + +} // namespace r1_voice diff --git a/r1/include/r1_voice/stt.hh b/r1/include/r1_voice/stt.hh new file mode 100644 index 0000000..2cd78ff --- /dev/null +++ b/r1/include/r1_voice/stt.hh @@ -0,0 +1,49 @@ +#pragma once + +#include + +namespace r1_voice { + + struct SttConfig { + std::string whisper_cli; + std::string whisper_model; + + std::string language = "cs"; + + int threads = 8; + + static constexpr int sample_rate = 16000; + static constexpr int packet_bytes = 5120; + + float speech_threshold = 0.010f; + + int silence_ms = 900; + int min_speech_ms = 250; + int max_record_ms = 10000; + + int preroll_ms = 800; + }; + +class SpeechToText { +public: + explicit SpeechToText(SttConfig config); + + // Blocks until the user speaks, stops speaking, + // and Whisper has transcribed the utterance. + std::string listen(); + +private: + SttConfig config_; + + bool recordToWav(const std::string& path); + + std::string transcribe( + const std::string& wav_path + ); + + std::string trim( + const std::string& text + ); +}; + +} // namespace r1_voice diff --git a/r1/include/r1_voice/tts.hh b/r1/include/r1_voice/tts.hh new file mode 100644 index 0000000..d3f2227 --- /dev/null +++ b/r1/include/r1_voice/tts.hh @@ -0,0 +1,65 @@ +#pragma once + +#include +#include +#include +#include + +#include + +namespace r1_voice { + +struct TtsConfig { + std::string piper_command = "python3 -m piper"; + + std::string model = + "/home/jvizner/esarobotech/piper/cs_medium.onnx"; + + std::string output_wav = + "/tmp/r1_tts.wav"; + + int volume = 100; + + std::string app_name = "r1_voice"; +}; + +class TextToSpeech { +public: + explicit TextToSpeech(TtsConfig config); + + bool init( + const std::string& network_interface + ); + + bool speak( + const std::string& text + ); + +private: + TtsConfig config_; + + std::unique_ptr< + unitree::robot::r1::AudioClient + > client_; + + bool initialized_ = false; + + bool synthesize( + const std::string& text, + const std::string& wav_path + ); + + bool readWavPcm( + const std::string& wav_path, + std::vector& pcm, + uint32_t& sample_rate, + uint16_t& channels, + uint16_t& bits_per_sample + ); + + bool playPcm( + const std::vector& pcm + ); +}; + +} // namespace r1_voice diff --git a/r1/include/robot_common.hh b/r1/include/robot_common.hh new file mode 100644 index 0000000..06dde60 --- /dev/null +++ b/r1/include/robot_common.hh @@ -0,0 +1,233 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace r1_vision { + +using unitree_hg::msg::dds_::LowCmd_; +using unitree_hg::msg::dds_::LowState_; +using namespace unitree::robot; + +inline constexpr int kNumMotors = 12; + +inline constexpr std::array kJointId = { + 15, 16, 17, 18, 19, + 22, 23, 24, 25, 26, + 29, 30 +}; + +inline constexpr std::array kJointName = { + "left_shoulder_pitch", + "left_shoulder_roll", + "left_shoulder_yaw", + "left_elbow", + "left_wrist_roll", + "right_shoulder_pitch", + "right_shoulder_roll", + "right_shoulder_yaw", + "right_elbow", + "right_wrist_roll", + "head_pitch", + "head_yaw" +}; + +inline constexpr std::array kKp = { + 100.f, 100.f, 100.f, 100.f, 50.f, + 100.f, 100.f, 100.f, 100.f, 50.f, + 50.f, 10.f +}; + +inline constexpr std::array kKd = { + 2.f, 2.f, 2.f, 2.f, 2.f, + 2.f, 2.f, 2.f, 2.f, 2.f, + 2.f, 0.1f +}; + +inline uint32_t Crc32Core(uint32_t* ptr, uint32_t len) { + uint32_t xbit = 0; + uint32_t data = 0; + uint32_t crc = 0xFFFFFFFFu; + constexpr uint32_t polynomial = 0x04c11db7u; + + for (uint32_t i = 0; i < len; ++i) { + xbit = 1u << 31; + data = ptr[i]; + for (uint32_t bits = 0; bits < 32; ++bits) { + if (crc & 0x80000000u) { + crc <<= 1; + crc ^= polynomial; + } else { + crc <<= 1; + } + if (data & xbit) crc ^= polynomial; + xbit >>= 1; + } + } + return crc; +} + +class RobotController { +public: + explicit RobotController(const std::string& network_interface) { + ChannelFactory::Instance()->Init(0, network_interface); + + motion_switcher_ = std::make_shared(); + motion_switcher_->SetTimeout(5.0f); + motion_switcher_->Init(); + + std::string form, name; + while (true) { + motion_switcher_->CheckMode(form, name); + if (name.empty()) break; + std::cout << "[SYS] Releasing motion mode: " << name << std::endl; + if (motion_switcher_->ReleaseMode()) { + std::cerr << "[WARN] ReleaseMode failed" << std::endl; + } + ::sleep(2); + } + + lowcmd_ = std::make_shared>("rt/lowcmd"); + lowcmd_->InitChannel(); + + lowstate_ = std::make_shared>("rt/lowstate"); + lowstate_->InitChannel( + std::bind(&RobotController::StateHandler, this, std::placeholders::_1), 1); + + std::cout << "[SYS] Waiting for LowState..." << std::endl; + while (!state_received_.load()) ::usleep(10000); + + { + std::lock_guard lock(mutex_); + target_q_ = current_q_; + } + + running_.store(true); + writer_thread_ = std::thread(&RobotController::CommandLoop, this); + std::cout << "[SYS] Low-level controller running at 500 Hz." << std::endl; + } + + ~RobotController() { + HoldCurrent(); + running_.store(false); + if (writer_thread_.joinable()) writer_thread_.join(); + } + + void StateHandler(const void* message) { + const auto& state = *static_cast(message); + const uint32_t crc = Crc32Core( + reinterpret_cast(const_cast(&state)), + (sizeof(LowState_) >> 2) - 1); + if (state.crc() != crc) return; + + std::lock_guard lock(mutex_); + for (int i = 0; i < kNumMotors; ++i) { + current_q_[i] = state.motor_state().at(kJointId[i]).q(); + } + mode_machine_ = state.mode_machine(); + state_received_.store(true); + } + + void CommandLoop() { + auto next = std::chrono::steady_clock::now(); + while (running_.load()) { + next += std::chrono::milliseconds(2); + + LowCmd_ cmd; + { + std::lock_guard lock(mutex_); + cmd.mode_pr() = 0; + cmd.mode_machine() = mode_machine_; + for (int i = 0; i < kNumMotors; ++i) { + auto& motor = cmd.motor_cmd().at(kJointId[i]); + motor.mode() = 1; + motor.q() = target_q_[i]; + motor.dq() = 0.0f; + motor.kp() = kKp[i]; + motor.kd() = kKd[i]; + motor.tau() = 0.0f; + } + } + + cmd.crc() = Crc32Core( + reinterpret_cast(&cmd), + (sizeof(cmd) >> 2) - 1); + lowcmd_->Write(cmd); + std::this_thread::sleep_until(next); + } + } + + std::array CurrentQ() const { + std::lock_guard lock(mutex_); + return current_q_; + } + + float CurrentJoint(int joint) const { + std::lock_guard lock(mutex_); + return current_q_.at(joint); + } + + void SetTargets(const std::array& q) { + std::lock_guard lock(mutex_); + target_q_ = q; + } + + void SetJointTarget(int joint, float q) { + std::lock_guard lock(mutex_); + target_q_.at(joint) = q; + } + + void MoveJointRelative(int joint, float delta_rad, double seconds = 0.6) { + const float start = CurrentJoint(joint); + const float target = start + delta_rad; + const auto t0 = std::chrono::steady_clock::now(); + + while (true) { + const double elapsed = std::chrono::duration( + std::chrono::steady_clock::now() - t0).count(); + const double a = std::clamp(elapsed / seconds, 0.0, 1.0); + const double s = a * a * (3.0 - 2.0 * a); + SetJointTarget(joint, static_cast(start + delta_rad * s)); + if (a >= 1.0) break; + std::this_thread::sleep_for(std::chrono::milliseconds(5)); + } + + SetJointTarget(joint, target); + std::this_thread::sleep_for(std::chrono::milliseconds(300)); + } + + void HoldCurrent() { + SetTargets(CurrentQ()); + std::this_thread::sleep_for(std::chrono::milliseconds(250)); + } + +private: + std::shared_ptr motion_switcher_; + ChannelPublisherPtr lowcmd_; + ChannelSubscriberPtr lowstate_; + std::thread writer_thread_; + std::atomic running_{false}; + std::atomic state_received_{false}; + mutable std::mutex mutex_; + std::array current_q_{}; + std::array target_q_{}; + uint8_t mode_machine_{0}; +}; + +} // namespace r1_vision diff --git a/r1/include/vision_io.hh b/r1/include/vision_io.hh new file mode 100644 index 0000000..f0c074c --- /dev/null +++ b/r1/include/vision_io.hh @@ -0,0 +1,115 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace r1_vision { + +struct Detection { + bool valid = false; + std::string class_name; + double timestamp = 0.0; + double confidence = 0.0; + double u = 0.0; + double v = 0.0; +}; + +inline bool ExtractNumber(const std::string& json, const std::string& key, double& value) { + const std::string search = "\"" + key + "\""; + const size_t p = json.find(search); + if (p == std::string::npos) return false; + const size_t colon = json.find(':', p); + if (colon == std::string::npos) return false; + try { + value = std::stod(json.substr(colon + 1)); + return true; + } catch (...) { + return false; + } +} + +inline bool ExtractString(const std::string& json, const std::string& key, std::string& value) { + const std::string search = "\"" + key + "\""; + const size_t p = json.find(search); + if (p == std::string::npos) return false; + const size_t colon = json.find(':', p); + if (colon == std::string::npos) return false; + const size_t q1 = json.find('"', colon + 1); + if (q1 == std::string::npos) return false; + const size_t q2 = json.find('"', q1 + 1); + if (q2 == std::string::npos) return false; + value = json.substr(q1 + 1, q2 - q1 - 1); + return true; +} + +inline bool ReadDetection(const std::string& path, Detection& d) { + std::ifstream f(path); + if (!f) return false; + std::stringstream buffer; + buffer << f.rdbuf(); + const std::string json = buffer.str(); + if (json.empty()) return false; + + if (!ExtractNumber(json, "timestamp", d.timestamp)) return false; + if (!ExtractNumber(json, "confidence", d.confidence)) return false; + if (!ExtractNumber(json, "u", d.u)) return false; + if (!ExtractNumber(json, "v", d.v)) return false; + ExtractString(json, "class", d.class_name); + d.valid = true; + return true; +} + +inline bool IsFresh(const Detection& d, double max_age_sec = 0.5) { + const double now = std::chrono::duration( + std::chrono::system_clock::now().time_since_epoch()).count(); + return std::isfinite(d.timestamp) && std::abs(now - d.timestamp) <= max_age_sec; +} + +inline bool GetStableBottleCenter( + const std::string& path, + double& u, + double& v, + int samples = 8, + double min_confidence = 0.7, + double timeout_sec = 5.0) +{ + std::vector us; + std::vector vs; + const auto start = std::chrono::steady_clock::now(); + + while (static_cast(us.size()) < samples) { + Detection d; + if (ReadDetection(path, d) && d.valid && + (d.class_name.empty() || d.class_name == "bottle") && + d.confidence >= min_confidence && IsFresh(d)) { + us.push_back(d.u); + vs.push_back(d.v); + } + + const double elapsed = std::chrono::duration( + std::chrono::steady_clock::now() - start).count(); + if (elapsed > timeout_sec) return false; + std::this_thread::sleep_for(std::chrono::milliseconds(25)); + } + + std::sort(us.begin(), us.end()); + std::sort(vs.begin(), vs.end()); + const auto median = [](const std::vector& x) { + const size_t n = x.size(); + if (n & 1u) return x[n / 2]; + return 0.5 * (x[n / 2 - 1] + x[n / 2]); + }; + + u = median(us); + v = median(vs); + return true; +} + +} // namespace r1_vision diff --git a/r1/scripts/yolo_detector.py b/r1/scripts/yolo_detector.py new file mode 100644 index 0000000..473a0f4 diff --git a/r1/src/conversation.cc b/r1/src/conversation.cc new file mode 100644 index 0000000..8ef9d57 --- /dev/null +++ b/r1/src/conversation.cc @@ -0,0 +1,101 @@ +#include "r1_voice/conversation.hh" + +#include +#include +#include + +namespace r1_voice { + +Conversation::Conversation( + ConversationConfig config) + : config_(std::move(config)) + , stt_(config_.stt) + , llm_(config_.llm) + , tts_(config_.tts) +{ +} + +bool Conversation::init( + const std::string& network_interface) +{ + return tts_.init( + network_interface + ); +} + +void Conversation::run() +{ + std::cout + << "\n" + << "====================================\n" + << " R1 Voice Assistant\n" + << "====================================\n" + << "Speak to R1.\n" + << "Press Ctrl+C to exit.\n" + << '\n'; + + 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 = + stt_.listen(); + + if (user.empty()) + continue; + + try { + + const std::string 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. + */ + const int estimated_ms = + 1000 + + static_cast( + response.size() * 50 + ); + + std::this_thread::sleep_for( + std::chrono::milliseconds( + estimated_ms + ) + ); + } + catch (const std::exception& e) { + + std::cerr + << "Conversation error: " + << e.what() + << '\n'; + + tts_.speak( + "Promiň, při zpracování odpovědi nastala chyba." + ); + + std::this_thread::sleep_for( + std::chrono::seconds(2) + ); + } + } +} + +} // namespace r1_voice diff --git a/r1/src/llm.cc b/r1/src/llm.cc new file mode 100644 index 0000000..ac04685 --- /dev/null +++ b/r1/src/llm.cc @@ -0,0 +1,391 @@ +#include "r1_voice/llm.hh" + +#include + +#include +#include +#include + +namespace r1_voice { + +namespace { + +size_t writeCallback( + void* contents, + size_t size, + size_t nmemb, + void* user) +{ + const size_t total = size * nmemb; + + auto* output = + static_cast(user); + + output->append( + static_cast(contents), + total + ); + + return total; +} + +} // namespace + +LLM::LLM(LlmConfig config) + : config_(std::move(config)) +{ + curl_global_init(CURL_GLOBAL_DEFAULT); +} + +std::string LLM::escapeJson( + const std::string& text) const +{ + std::string result; + result.reserve(text.size() + 16); + + for (const char c : text) { + switch (c) { + case '"': + result += "\\\""; + break; + + case '\\': + result += "\\\\"; + break; + + case '\n': + result += "\\n"; + break; + + case '\r': + result += "\\r"; + break; + + case '\t': + result += "\\t"; + break; + + default: + result += c; + break; + } + } + + return result; +} + +std::string LLM::httpPost( + const std::string& body) const +{ + CURL* curl = curl_easy_init(); + + if (!curl) { + throw std::runtime_error( + "curl_easy_init() failed" + ); + } + + std::string response; + + curl_slist* headers = nullptr; + + headers = curl_slist_append( + headers, + "Content-Type: application/json" + ); + + curl_easy_setopt( + curl, + CURLOPT_URL, + config_.url.c_str() + ); + + curl_easy_setopt( + curl, + CURLOPT_HTTPHEADER, + headers + ); + + curl_easy_setopt( + curl, + CURLOPT_POST, + 1L + ); + + curl_easy_setopt( + curl, + CURLOPT_POSTFIELDS, + body.c_str() + ); + + curl_easy_setopt( + curl, + CURLOPT_WRITEFUNCTION, + writeCallback + ); + + curl_easy_setopt( + curl, + CURLOPT_WRITEDATA, + &response + ); + + curl_easy_setopt( + curl, + CURLOPT_CONNECTTIMEOUT, + 5L + ); + + curl_easy_setopt( + curl, + CURLOPT_TIMEOUT, + 120L + ); + + const CURLcode ret = + curl_easy_perform(curl); + + long status = 0; + + curl_easy_getinfo( + curl, + CURLINFO_RESPONSE_CODE, + &status + ); + + curl_slist_free_all(headers); + curl_easy_cleanup(curl); + + if (ret != CURLE_OK) { + throw std::runtime_error( + std::string("HTTP request failed: ") + + curl_easy_strerror(ret) + ); + } + + if (status < 200 || status >= 300) { + throw std::runtime_error( + "LLM HTTP status " + + std::to_string(status) + + "\nResponse:\n" + + response + ); + } + + return response; +} + +std::string LLM::parseContent( + const std::string& json) const +{ + const std::string key = "\"content\""; + + const size_t key_pos = + json.find(key); + + if (key_pos == std::string::npos) + return {}; + + const size_t colon = + json.find( + ':', + key_pos + key.size() + ); + + if (colon == std::string::npos) + return {}; + + const size_t quote = + json.find( + '"', + colon + 1 + ); + + if (quote == std::string::npos) + return {}; + + std::string result; + result.reserve(256); + + bool escaped = false; + + for (size_t i = quote + 1; + i < json.size(); + ++i) { + + const char c = json[i]; + + if (escaped) { + switch (c) { + case 'n': + result += '\n'; + break; + + case 'r': + result += '\r'; + break; + + case 't': + result += '\t'; + break; + + case '"': + result += '"'; + break; + + case '\\': + result += '\\'; + break; + + case '/': + result += '/'; + break; + + default: + result += c; + break; + } + + escaped = false; + continue; + } + + if (c == '\\') { + escaped = true; + continue; + } + + if (c == '"') + break; + + result += c; + } + + return result; +} + +static std::string removeThinkBlocks( + std::string text) +{ + for (;;) { + const size_t begin = + text.find(""); + + if (begin == std::string::npos) + break; + + const size_t end = + text.find( + "", + begin + ); + + if (end == std::string::npos) { + text.erase(begin); + break; + } + + const size_t len = + end + + std::string("").size() - + begin; + + text.erase(begin, len); + } + + return text; +} + +std::string LLM::chat( + const std::string& user) +{ + history_.push_back({ + "user", + user + }); + + std::ostringstream body; + + body + << '{' + << "\"model\":\"" + << escapeJson(config_.model) + << "\"," + + << "\"messages\":[" + + << '{' + << "\"role\":\"system\"," + << "\"content\":\"" + << escapeJson(config_.system_prompt) + << "\"" + << '}'; + + const size_t begin = + history_.size() > 12 + ? history_.size() - 12 + : 0; + + for (size_t i = begin; + i < history_.size(); + ++i) { + + body + << ",{" + << "\"role\":\"" + << escapeJson( + history_[i].role + ) + << "\"," + << "\"content\":\"" + << escapeJson( + history_[i].content + ) + << "\"" + << '}'; + } + + body + << "]," + + << "\"max_tokens\":" + << config_.max_tokens + << ',' + + << "\"temperature\":" + << config_.temperature + << ',' + + << "\"chat_template_kwargs\":{" + << "\"enable_thinking\":false" + << '}' + + << '}'; + + const std::string response = + httpPost(body.str()); + + std::string answer = + parseContent(response); + + answer = + removeThinkBlocks(answer); + + if (answer.empty()) { + std::cerr + << "LLM returned empty content:\n" + << response + << '\n'; + + return {}; + } + + history_.push_back({ + "assistant", + answer + }); + + return answer; +} + +} // namespace r1_voice diff --git a/r1/src/r1_hand_calibrate.cc b/r1/src/r1_hand_calibrate.cc new file mode 100644 index 0000000..1ac2247 --- /dev/null +++ b/r1/src/r1_hand_calibrate.cc @@ -0,0 +1,205 @@ +#include +#include +#include +#include +#include + +#include + +#include + +#include "r1_vision/robot_common.hpp" +#include "r1_vision/kinematics.hpp" + +using namespace r1_vision; + +struct ClickState { + bool clicked = false; + cv::Point point{}; +}; + +static void MouseCallback(int event, int x, int y, int, void* user) { + auto* s = static_cast(user); + if (event == cv::EVENT_LBUTTONDOWN) { + s->clicked = true; + s->point = cv::Point(x, y); + std::cout << "[CLICK] " << x << ", " << y << std::endl; + } +} + +static cv::Mat GetFrame(unitree::robot::go2::VideoClient& camera) { + std::vector jpeg; + if (camera.GetImageSample(jpeg) != 0 || jpeg.empty()) return {}; + cv::Mat encoded(1, static_cast(jpeg.size()), CV_8UC1, jpeg.data()); + return cv::imdecode(encoded, cv::IMREAD_COLOR); +} + +int main(int argc, char** argv) { + if (argc < 3) { + std::cerr << "Usage: r1_hand_calibrate \n"; + return 1; + } + + cv::FileStorage fs(argv[2], cv::FILE_STORAGE_READ); + if (!fs.isOpened()) { + std::cerr << "Cannot open intrinsics: " << argv[2] << std::endl; + return 1; + } + cv::Mat K, D; + fs["camera_matrix"] >> K; + fs["distortion"] >> D; + fs.release(); + + if (K.empty() || D.empty()) { + std::cerr << "Invalid camera calibration file." << std::endl; + return 1; + } + + pinocchio::Model model; + pinocchio::urdf::buildModel( + "/home/jvizner/unitree_ros/robots/r1_description/R1.urdf", + model); + pinocchio::Data data(model); + + RobotController robot(argv[1]); + + unitree::robot::go2::VideoClient camera; + camera.SetTimeout(1.0f); + camera.Init(); + + const std::string window = "R1 Wrist Extrinsic Calibration"; + cv::namedWindow(window, cv::WINDOW_NORMAL); + ClickState click; + cv::setMouseCallback(window, MouseCallback, &click); + + std::vector robot_points; + std::vector image_points; + + std::cout << "\nControls:\n" + << " left click = mark LEFT wrist\n" + << " c = capture point\n" + << " p/P = left shoulder pitch +/- 0.08 rad\n" + << " r/R = left shoulder roll +/- 0.08 rad\n" + << " y/Y = left shoulder yaw +/- 0.08 rad\n" + << " e/E = left elbow +/- 0.08 rad\n" + << " q = solve and quit\n"; + + while (true) { + cv::Mat frame = GetFrame(camera); + if (frame.empty()) { + usleep(10000); + continue; + } + + const auto q = robot.CurrentQ(); + const Eigen::Vector3d wrist = FramePosition( + model, data, q, "left_wrist_roll_link"); + + cv::Mat display = frame.clone(); + cv::putText(display, + "samples=" + std::to_string(image_points.size()), + {20, 35}, cv::FONT_HERSHEY_SIMPLEX, 0.8, + {0, 255, 0}, 2); + + cv::putText(display, + "wrist R1: " + std::to_string(wrist.x()) + ", " + + std::to_string(wrist.y()) + ", " + + std::to_string(wrist.z()), + {20, 70}, cv::FONT_HERSHEY_SIMPLEX, 0.55, + {255, 255, 0}, 2); + + if (click.clicked) + cv::circle(display, click.point, 7, {0, 0, 255}, -1); + + cv::imshow(window, display); + const int key = cv::waitKey(10) & 0xff; + + if (key == 'q') break; + + if (key == 'c') { + if (!click.clicked) { + std::cout << "[WARN] Click the wrist first." << std::endl; + continue; + } + image_points.emplace_back( + static_cast(click.point.x), + static_cast(click.point.y)); + robot_points.emplace_back( + static_cast(wrist.x()), + static_cast(wrist.y()), + static_cast(wrist.z())); + std::cout << "[CAPTURE] #" << image_points.size() + << " pixel=" << click.point.x << "," << click.point.y + << " robot=" << wrist.transpose() << std::endl; + click.clicked = false; + } + + constexpr float step = 0.08f; + switch (key) { + case 'p': robot.MoveJointRelative(0, +step); break; + case 'P': robot.MoveJointRelative(0, -step); break; + case 'r': robot.MoveJointRelative(1, +step); break; + case 'R': robot.MoveJointRelative(1, -step); break; + case 'y': robot.MoveJointRelative(2, +step); break; + case 'Y': robot.MoveJointRelative(2, -step); break; + case 'e': robot.MoveJointRelative(3, +step); break; + case 'E': robot.MoveJointRelative(3, -step); break; + default: break; + } + } + + cv::destroyAllWindows(); + + if (image_points.size() < 8) { + std::cerr << "Need at least 8 captured points; got " + << image_points.size() << std::endl; + return 1; + } + + cv::Mat rvec, tvec; + std::vector inliers; + if (!cv::solvePnPRansac( + robot_points, image_points, K, D, + rvec, tvec, false, 200, 5.0, 0.99, + inliers, cv::SOLVEPNP_ITERATIVE)) { + std::cerr << "solvePnPRansac failed." << std::endl; + return 1; + } + + cv::Mat R; + cv::Rodrigues(rvec, R); + + std::vector projected; + cv::projectPoints(robot_points, rvec, tvec, K, D, projected); + + double sum_sq = 0.0; + for (size_t i = 0; i < image_points.size(); ++i) { + const double dx = image_points[i].x - projected[i].x; + const double dy = image_points[i].y - projected[i].y; + sum_sq += dx * dx + dy * dy; + } + const double rms = std::sqrt(sum_sq / image_points.size()); + + std::cout << "\n========================================\n" + << "EXTRINSIC CALIBRATION\n" + << "========================================\n" + << "R robot->camera:\n" << R << "\n" + << "t robot->camera:\n" << tvec << "\n" + << "RMS reprojection error = " << rms << " px\n" + << "Inliers = " << inliers.size() << " / " << image_points.size() + << std::endl; + + const std::string output = + "/home/jvizner/r1_camera_calibration/camera_extrinsics.yaml"; + + cv::FileStorage out(output, cv::FILE_STORAGE_WRITE); + out << "camera_matrix" << K; + out << "distortion" << D; + out << "rotation_robot_to_camera" << R; + out << "translation_robot_to_camera" << tvec; + out << "rms_reprojection_error" << rms; + out.release(); + + std::cout << "[SYS] Saved: " << output << std::endl; + return 0; +} diff --git a/r1/src/r1_mic_test.cc b/r1/src/r1_mic_test.cc new file mode 100644 index 0000000..4f520a9 --- /dev/null +++ b/r1/src/r1_mic_test.cc @@ -0,0 +1,306 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +constexpr const char* GROUP_IP = "239.168.123.161"; +constexpr int PORT = 5555; + +constexpr int SAMPLE_RATE = 16000; +constexpr int SECONDS = 5; +constexpr int PACKET_BYTES = 5120; +constexpr int TOTAL_BYTES = + SAMPLE_RATE * 2 * SECONDS; + +static std::string get_local_ip( + const std::string& interface) +{ + ifaddrs* ifaddr = nullptr; + + if (getifaddrs(&ifaddr) != 0) + return {}; + + std::string result; + + for (ifaddrs* ifa = ifaddr; + ifa; + ifa = ifa->ifa_next) { + + if (!ifa->ifa_addr) + continue; + + if (interface != ifa->ifa_name) + continue; + + if (ifa->ifa_addr->sa_family != AF_INET) + continue; + + char host[NI_MAXHOST]{}; + + if (getnameinfo( + ifa->ifa_addr, + sizeof(sockaddr_in), + host, + sizeof(host), + nullptr, + 0, + NI_NUMERICHOST) == 0) { + + result = host; + break; + } + } + + freeifaddrs(ifaddr); + return result; +} + +static void write_wav( + const std::string& path, + const std::vector& pcm) +{ + std::ofstream f( + path, + std::ios::binary + ); + + const uint32_t data_size = + pcm.size() * sizeof(int16_t); + + const uint32_t riff_size = + 36 + data_size; + + const uint16_t format = 1; + const uint16_t channels = 1; + const uint16_t bits = 16; + + const uint32_t sample_rate = 16000; + + const uint16_t block_align = + channels * bits / 8; + + const uint32_t byte_rate = + sample_rate * block_align; + + f.write("RIFF", 4); + f.write( + reinterpret_cast(&riff_size), + 4 + ); + + f.write("WAVE", 4); + f.write("fmt ", 4); + + const uint32_t fmt_size = 16; + + f.write( + reinterpret_cast(&fmt_size), + 4 + ); + + f.write( + reinterpret_cast(&format), + 2 + ); + + f.write( + reinterpret_cast(&channels), + 2 + ); + + f.write( + reinterpret_cast(&sample_rate), + 4 + ); + + f.write( + reinterpret_cast(&byte_rate), + 4 + ); + + f.write( + reinterpret_cast(&block_align), + 2 + ); + + f.write( + reinterpret_cast(&bits), + 2 + ); + + f.write("data", 4); + + f.write( + reinterpret_cast(&data_size), + 4 + ); + + f.write( + reinterpret_cast(pcm.data()), + data_size + ); +} + +int main(int argc, char** argv) +{ + if (argc != 2) { + std::cerr + << "Usage: " + << argv[0] + << " \n"; + + return 1; + } + + const std::string interface = argv[1]; + + const std::string local_ip = + get_local_ip(interface); + + std::cout + << "Interface: " + << interface + << '\n' + << "Local IP: " + << local_ip + << '\n'; + + int sock = + socket(AF_INET, SOCK_DGRAM, 0); + + if (sock < 0) { + perror("socket"); + return 1; + } + + int reuse = 1; + + setsockopt( + sock, + SOL_SOCKET, + SO_REUSEADDR, + &reuse, + sizeof(reuse) + ); + + sockaddr_in addr{}; + + addr.sin_family = AF_INET; + addr.sin_port = htons(PORT); + addr.sin_addr.s_addr = INADDR_ANY; + + if (bind( + sock, + reinterpret_cast(&addr), + sizeof(addr)) != 0) { + + perror("bind"); + close(sock); + return 1; + } + + ip_mreq mreq{}; + + inet_pton( + AF_INET, + GROUP_IP, + &mreq.imr_multiaddr + ); + + inet_pton( + AF_INET, + local_ip.c_str(), + &mreq.imr_interface + ); + + if (setsockopt( + sock, + IPPROTO_IP, + IP_ADD_MEMBERSHIP, + &mreq, + sizeof(mreq)) != 0) { + + perror("IP_ADD_MEMBERSHIP"); + close(sock); + return 1; + } + + std::vector pcm; + pcm.reserve(SAMPLE_RATE * SECONDS); + + int total_bytes = 0; + + std::cout + << "\nSpeak for 5 seconds...\n"; + + while (total_bytes < TOTAL_BYTES) { + + char buffer[PACKET_BYTES]; + + const ssize_t len = + recvfrom( + sock, + buffer, + sizeof(buffer), + 0, + nullptr, + nullptr + ); + + if (len <= 0) + continue; + + const size_t samples = + len / sizeof(int16_t); + + const int16_t* p = + reinterpret_cast< + const int16_t* + >(buffer); + + pcm.insert( + pcm.end(), + p, + p + samples + ); + + total_bytes += len; + + std::cout + << "\r" + << total_bytes + << " / " + << TOTAL_BYTES + << " bytes" + << std::flush; + } + + std::cout << '\n'; + + write_wav( + "/tmp/r1_raw_test.wav", + pcm + ); + + std::cout + << "Written /tmp/r1_raw_test.wav\n"; + + setsockopt( + sock, + IPPROTO_IP, + IP_DROP_MEMBERSHIP, + &mreq, + sizeof(mreq) + ); + + close(sock); + + return 0; +} diff --git a/r1/src/stt.cc b/r1/src/stt.cc new file mode 100644 index 0000000..831b072 --- /dev/null +++ b/r1/src/stt.cc @@ -0,0 +1,658 @@ +#include "r1_voice/stt.hh" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace r1_voice { + +namespace { + +constexpr const char* GROUP_IP = + "239.168.123.161"; + +constexpr uint16_t PORT = 5555; + +constexpr int SAMPLE_RATE = 16000; + +std::string findR1InterfaceAddress( + const std::string& interface_name) +{ + struct ifaddrs* ifaddr = nullptr; + + if (getifaddrs(&ifaddr) != 0) + return {}; + + std::string result; + + for (auto* ifa = ifaddr; + ifa != nullptr; + ifa = ifa->ifa_next) { + + if (!ifa->ifa_addr) + continue; + + if (interface_name != ifa->ifa_name) + continue; + + if (ifa->ifa_addr->sa_family != AF_INET) + continue; + + char host[NI_MAXHOST] = {}; + + if (getnameinfo( + ifa->ifa_addr, + sizeof(sockaddr_in), + host, + sizeof(host), + nullptr, + 0, + NI_NUMERICHOST) == 0) { + + result = host; + break; + } + } + + freeifaddrs(ifaddr); + + return result; +} + +float rms( + const int16_t* samples, + size_t count) +{ + if (count == 0) + return 0.0f; + + double sum = 0.0; + + for (size_t i = 0; i < count; ++i) { + const float sample = + static_cast(samples[i]) / + 32768.0f; + + sum += + static_cast(sample) * + static_cast(sample); + } + + return static_cast( + std::sqrt(sum / count) + ); +} + +void writeWav( + const std::string& filename, + const std::vector& pcm) +{ + std::ofstream file( + filename, + std::ios::binary + ); + + if (!file) + throw std::runtime_error( + "Cannot open WAV file: " + filename + ); + + const uint16_t audio_format = 1; + const uint16_t channels = 1; + const uint16_t bits_per_sample = 16; + + const uint32_t sample_rate = SAMPLE_RATE; + + const uint16_t block_align = + channels * bits_per_sample / 8; + + const uint32_t byte_rate = + sample_rate * block_align; + + const uint32_t data_size = + static_cast( + pcm.size() * sizeof(int16_t) + ); + + const uint32_t riff_size = + 36 + data_size; + + file.write( + "RIFF", + 4 + ); + + file.write( + reinterpret_cast(&riff_size), + sizeof(riff_size) + ); + + file.write( + "WAVE", + 4 + ); + + file.write( + "fmt ", + 4 + ); + + const uint32_t fmt_size = 16; + + file.write( + reinterpret_cast(&fmt_size), + sizeof(fmt_size) + ); + + file.write( + reinterpret_cast(&audio_format), + sizeof(audio_format) + ); + + file.write( + reinterpret_cast(&channels), + sizeof(channels) + ); + + file.write( + reinterpret_cast(&sample_rate), + sizeof(sample_rate) + ); + + file.write( + reinterpret_cast(&byte_rate), + sizeof(byte_rate) + ); + + file.write( + reinterpret_cast(&block_align), + sizeof(block_align) + ); + + file.write( + reinterpret_cast(&bits_per_sample), + sizeof(bits_per_sample) + ); + + file.write( + "data", + 4 + ); + + file.write( + reinterpret_cast(&data_size), + sizeof(data_size) + ); + + if (!pcm.empty()) { + file.write( + reinterpret_cast(pcm.data()), + static_cast( + data_size + ) + ); + } +} + +} // namespace + +SpeechToText::SpeechToText( + SttConfig config) + : config_(std::move(config)) +{ +} + +std::string SpeechToText::listen() +{ + constexpr const char* WAV_PATH = + "/tmp/r1_voice_record.wav"; + + if (!recordToWav(WAV_PATH)) + return {}; + + return transcribe(WAV_PATH); +} + +bool SpeechToText::recordToWav( + const std::string& path) +{ + const int sock = + socket( + AF_INET, + SOCK_DGRAM, + 0 + ); + + if (sock < 0) { + std::cerr + << "socket() failed: " + << std::strerror(errno) + << '\n'; + + return false; + } + + int reuse = 1; + + if (setsockopt( + sock, + SOL_SOCKET, + SO_REUSEADDR, + &reuse, + sizeof(reuse)) != 0) { + + std::cerr + << "SO_REUSEADDR failed: " + << std::strerror(errno) + << '\n'; + + close(sock); + return false; + } + + sockaddr_in local_addr{}; + + local_addr.sin_family = + AF_INET; + + local_addr.sin_port = + htons(PORT); + + local_addr.sin_addr.s_addr = + htonl(INADDR_ANY); + + if (bind( + sock, + reinterpret_cast(&local_addr), + sizeof(local_addr)) != 0) { + + std::cerr + << "bind() failed: " + << std::strerror(errno) + << '\n'; + + close(sock); + return false; + } + + const char* env_interface = + std::getenv( + "R1_NETWORK_INTERFACE" + ); + + if (!env_interface) { + std::cerr + << "R1_NETWORK_INTERFACE is not set\n" + << "Example:\n" + << " export R1_NETWORK_INTERFACE=enp3s0\n"; + + close(sock); + return false; + } + + const std::string interface = + env_interface; + + const std::string local_ip = + findR1InterfaceAddress( + interface + ); + + if (local_ip.empty()) { + std::cerr + << "Could not find IPv4 address for " + << interface + << '\n'; + + close(sock); + return false; + } + + ip_mreq mreq{}; + + if (inet_pton( + AF_INET, + GROUP_IP, + &mreq.imr_multiaddr) != 1) { + + close(sock); + return false; + } + + if (inet_pton( + AF_INET, + local_ip.c_str(), + &mreq.imr_interface) != 1) { + + close(sock); + return false; + } + + if (setsockopt( + sock, + IPPROTO_IP, + IP_ADD_MEMBERSHIP, + &mreq, + sizeof(mreq)) != 0) { + + std::cerr + << "IP_ADD_MEMBERSHIP failed: " + << std::strerror(errno) + << '\n'; + + close(sock); + return false; + } + + /* + * R1 sends 5120 byte packets. + */ + constexpr size_t PACKET_SIZE = 5120; + + std::vector audio; + + const size_t reserve_samples = + static_cast( + SAMPLE_RATE * + config_.max_record_ms / + 1000 + ); + + audio.reserve(reserve_samples); + + std::vector preroll; + + const size_t preroll_samples = + static_cast( + SAMPLE_RATE * + config_.preroll_ms / + 1000 + ); + + preroll.reserve(preroll_samples); + + char buffer[PACKET_SIZE]; + + bool speaking = false; + + int speech_ms = 0; + int silence_ms = 0; + int total_ms = 0; + + std::cout + << "\nListening...\n"; + + while (total_ms < + config_.max_record_ms) { + + const ssize_t len = + recvfrom( + sock, + buffer, + sizeof(buffer), + 0, + nullptr, + nullptr + ); + + if (len <= 0) { + continue; + } + + if ((len % 2) != 0) + continue; + + const auto* samples = + reinterpret_cast< + const int16_t* + >(buffer); + + const size_t sample_count = + static_cast(len) / 2; + + const int packet_ms = + static_cast( + sample_count * 1000 / + SAMPLE_RATE + ); + + total_ms += packet_ms; + + const float level = + rms( + samples, + sample_count + ); + + if (!speaking) { + + preroll.insert( + preroll.end(), + samples, + samples + sample_count + ); + + if (preroll.size() > + preroll_samples) { + + const size_t remove = + preroll.size() - + preroll_samples; + + preroll.erase( + preroll.begin(), + preroll.begin() + + static_cast< + std::ptrdiff_t + >(remove) + ); + } + + if (level >= + config_.speech_threshold) { + + speaking = true; + + audio.insert( + audio.end(), + preroll.begin(), + preroll.end() + ); + + preroll.clear(); + + speech_ms += packet_ms; + + std::cout + << "Speech detected\n"; + } + } + else { + + audio.insert( + audio.end(), + samples, + samples + sample_count + ); + + speech_ms += packet_ms; + + if (level < + config_.speech_threshold) { + + silence_ms += packet_ms; + } + else { + silence_ms = 0; + } + + if ( + speech_ms >= + config_.min_speech_ms && + silence_ms >= + config_.silence_ms + ) { + break; + } + } + } + + setsockopt( + sock, + IPPROTO_IP, + IP_DROP_MEMBERSHIP, + &mreq, + sizeof(mreq) + ); + + close(sock); + + if (!speaking || + audio.empty()) { + + std::cout + << "No speech detected.\n"; + + return false; + } + + try { + writeWav( + path, + audio + ); + } + catch (const std::exception& e) { + std::cerr + << "WAV write failed: " + << e.what() + << '\n'; + + return false; + } + + std::cout + << "Recorded " + << audio.size() / + static_cast( + SAMPLE_RATE + ) + << " seconds\n"; + + return true; +} + +std::string SpeechToText::transcribe( + const std::string& wav_path) +{ + std::ostringstream command; + + command + << '"' + << config_.whisper_cli + << '"' + << " -m " + << '"' + << config_.whisper_model + << '"' + << " -f " + << '"' + << wav_path + << '"' + << " -l " + << config_.language + << " -t " + << config_.threads + << " --no-timestamps" + << " -nt" + << " 2>/dev/null"; + + std::cout + << "Transcribing...\n"; + + FILE* pipe = + popen( + command.str().c_str(), + "r" + ); + + if (!pipe) { + std::cerr + << "Failed to start whisper-cli\n"; + + return {}; + } + + char buffer[4096]; + + std::string output; + + while (fgets( + buffer, + sizeof(buffer), + pipe)) { + + output += buffer; + } + + const int status = + pclose(pipe); + + if (status != 0) { + std::cerr + << "whisper-cli failed: " + << status + << '\n'; + + return {}; + } + + const std::string text = + trim(output); + + if (!text.empty()) { + std::cout + << "You: " + << text + << '\n'; + } + + return text; +} + +std::string SpeechToText::trim( + const std::string& text) +{ + const auto first = + text.find_first_not_of( + " \t\r\n" + ); + + if (first == std::string::npos) + return {}; + + const auto last = + text.find_last_not_of( + " \t\r\n" + ); + + return text.substr( + first, + last - first + 1 + ); +} + +} // namespace r1_voice diff --git a/r1/src/tts.cc b/r1/src/tts.cc new file mode 100644 index 0000000..61f2dd5 --- /dev/null +++ b/r1/src/tts.cc @@ -0,0 +1,672 @@ +#include "r1_voice/tts.hh" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + +namespace r1_voice { + +namespace { + +bool readU16( + std::ifstream& f, + uint16_t& value) +{ + f.read( + reinterpret_cast(&value), + sizeof(value) + ); + + return static_cast(f); +} + +bool readU32( + std::ifstream& f, + uint32_t& value) +{ + f.read( + reinterpret_cast(&value), + sizeof(value) + ); + + return static_cast(f); +} + +bool runCommand( + const std::string& command) +{ + const int status = + std::system(command.c_str()); + + if (status == -1) + return false; + + return WIFEXITED(status) && + WEXITSTATUS(status) == 0; +} + +} // namespace + +TextToSpeech::TextToSpeech( + TtsConfig config) + : config_(std::move(config)) +{ +} + +bool TextToSpeech::init( + const std::string& network_interface) +{ + if (network_interface.empty()) { + std::cerr + << "TTS: network interface is empty\n"; + + return false; + } + + try { + /* + * ChannelFactory MUST be initialized before + * constructing AudioClient. + */ + unitree::robot::ChannelFactory:: + Instance()->Init( + 0, + network_interface + ); + + client_ = + std::make_unique< + unitree::robot::r1::AudioClient + >(); + + client_->Init(); + + client_->SetTimeout(10.0f); + + const int32_t ret = + client_->SetVolume( + static_cast( + config_.volume + ) + ); + + if (ret != 0) { + std::cerr + << "TTS: SetVolume failed: " + << ret + << '\n'; + } + + initialized_ = true; + + std::cout + << "TTS initialized\n" + << " Piper model: " + << config_.model + << '\n' + << " R1 interface: " + << network_interface + << '\n'; + + return true; + } + catch (const std::exception& e) { + std::cerr + << "TTS init failed: " + << e.what() + << '\n'; + + client_.reset(); + initialized_ = false; + + return false; + } +} + +bool TextToSpeech::synthesize( + const std::string& text, + const std::string& wav_path) +{ + const std::string text_path = + "/tmp/r1_tts_input.txt"; + + { + std::ofstream out( + text_path, + std::ios::binary + ); + + if (!out) { + std::cerr + << "Cannot create " + << text_path + << '\n'; + + return false; + } + + out << text; + } + + std::ostringstream command; + + command + << "python -m piper" + << " --model " + << '\'' + << config_.model + << '\'' + << " --output_file " + << '\'' + << wav_path + << '\'' + << " < " + << '\'' + << text_path + << '\'' + << " >/dev/null 2>&1"; + + std::cout + << "Synthesizing Czech speech...\n"; + + if (!runCommand(command.str())) { + std::cerr + << "Piper failed\n"; + + return false; + } + + return true; +} + +bool TextToSpeech::readWavPcm( + const std::string& wav_path, + std::vector& pcm, + uint32_t& sample_rate, + uint16_t& channels, + uint16_t& bits_per_sample) +{ + std::ifstream f( + wav_path, + std::ios::binary + ); + + if (!f) { + std::cerr + << "Cannot open WAV: " + << wav_path + << '\n'; + + return false; + } + + char riff[4]; + char wave[4]; + + f.read(riff, 4); + + if (!f || + std::memcmp(riff, "RIFF", 4) != 0) { + + std::cerr + << "Invalid RIFF file\n"; + + return false; + } + + uint32_t riff_size = 0; + + if (!readU32(f, riff_size)) + return false; + + (void)riff_size; + + f.read(wave, 4); + + if (!f || + std::memcmp(wave, "WAVE", 4) != 0) { + + std::cerr + << "Invalid WAVE file\n"; + + return false; + } + + bool found_fmt = false; + bool found_data = false; + + uint16_t audio_format = 0; + + uint32_t data_size = 0; + std::streampos data_position{}; + + while (f && (!found_fmt || !found_data)) { + + char chunk_id[4]; + uint32_t chunk_size = 0; + + f.read( + chunk_id, + sizeof(chunk_id) + ); + + if (!f) + break; + + if (!readU32(f, chunk_size)) + return false; + + if (std::memcmp( + chunk_id, + "fmt ", + 4) == 0) { + + if (chunk_size < 16) { + std::cerr + << "Invalid fmt chunk\n"; + + return false; + } + + if (!readU16( + f, + audio_format)) + return false; + + if (!readU16( + f, + channels)) + return false; + + if (!readU32( + f, + sample_rate)) + return false; + + uint32_t byte_rate = 0; + uint16_t block_align = 0; + + if (!readU32( + f, + byte_rate)) + return false; + + if (!readU16( + f, + block_align)) + return false; + + if (!readU16( + f, + bits_per_sample)) + return false; + + (void)byte_rate; + (void)block_align; + + if (chunk_size > 16) { + f.seekg( + chunk_size - 16, + std::ios::cur + ); + } + + found_fmt = true; + } + else if ( + std::memcmp( + chunk_id, + "data", + 4) == 0) { + + data_size = chunk_size; + + data_position = f.tellg(); + + f.seekg( + chunk_size, + std::ios::cur + ); + + found_data = true; + } + else { + f.seekg( + chunk_size, + std::ios::cur + ); + } + + if (chunk_size & 1) + f.seekg( + 1, + std::ios::cur + ); + } + + if (!found_fmt || + !found_data) { + + std::cerr + << "WAV missing fmt/data chunk\n"; + + return false; + } + + if (audio_format != 1) { + std::cerr + << "WAV is not PCM\n"; + + return false; + } + + if (channels != 1) { + std::cerr + << "WAV must be mono, got " + << channels + << '\n'; + + return false; + } + + if (bits_per_sample != 16) { + std::cerr + << "WAV must be 16-bit PCM, got " + << bits_per_sample + << '\n'; + + return false; + } + + f.seekg(data_position); + + pcm.resize(data_size); + + f.read( + reinterpret_cast(pcm.data()), + static_cast( + data_size + ) + ); + + if (!f) { + std::cerr + << "Failed reading PCM data\n"; + + return false; + } + + return true; +} + +bool TextToSpeech::playPcm( + const std::vector& pcm) +{ + if (!client_ || pcm.empty()) + return false; + + // 16 kHz, mono, signed 16-bit PCM: + // 16000 samples/s * 2 bytes = 32000 bytes/s + constexpr double BYTES_PER_SECOND = 32000.0; + + // Same chunk size as Unitree's R1 audio example: + // 96000 bytes = 3 seconds. + constexpr size_t CHUNK_SIZE = 96000; + + // Feed chunks faster than playback so R1 keeps + // an audio buffer and does not underrun. + constexpr int INTER_CHUNK_DELAY_MS = 1000; + + // Extra time after predicted playback completion before + // enabling the microphone again. + constexpr int PLAYBACK_MARGIN_MS = 600; + + const std::string stream_id = + std::to_string( + unitree::common::GetCurrentTimeMillisecond() + ); + + const auto playback_start = + std::chrono::steady_clock::now(); + + size_t offset = 0; + size_t chunk_index = 0; + + while (offset < pcm.size()) { + + const size_t remaining = + pcm.size() - offset; + + const size_t chunk_size = + std::min( + CHUNK_SIZE, + remaining + ); + + std::vector chunk( + pcm.begin() + + static_cast(offset), + pcm.begin() + + static_cast( + offset + chunk_size + ) + ); + + std::cout + << "Sending TTS chunk " + << chunk_index + << ": " + << chunk_size + << " bytes\n"; + + const int32_t ret = + client_->PlayStream( + config_.app_name, + stream_id, + chunk + ); + + std::cout + << "PlayStream returned " + << ret + << '\n'; + + if (ret != 0) { + std::cerr + << "PlayStream failed on chunk " + << chunk_index + << '\n'; + + return false; + } + + offset += chunk_size; + ++chunk_index; + + // Keep the R1 buffer filled ahead of playback. + if (offset < pcm.size()) { + std::this_thread::sleep_for( + std::chrono::milliseconds( + INTER_CHUNK_DELAY_MS + ) + ); + } + } + + std::cout + << "All TTS chunks submitted\n"; + + /* + * Work out when the complete utterance should finish + * relative to when we submitted its first chunk. + */ + const auto total_audio_ms = + std::chrono::milliseconds( + static_cast( + (static_cast(pcm.size()) / + BYTES_PER_SECOND) * + 1000.0 + ) + ); + + const auto now = + std::chrono::steady_clock::now(); + + const auto elapsed = + std::chrono::duration_cast< + std::chrono::milliseconds + >(now - playback_start); + + auto remaining_playback = + total_audio_ms - elapsed; + + if (remaining_playback.count() < 0) { + remaining_playback = + std::chrono::milliseconds(0); + } + + const auto final_wait = + remaining_playback + + std::chrono::milliseconds( + PLAYBACK_MARGIN_MS + ); + + std::cout + << "Waiting " + << final_wait.count() + << " ms for R1 playback to finish\n"; + + std::this_thread::sleep_for( + final_wait + ); + + /* + * IMPORTANT: + * Don't PlayStop() here. + * + * We let the R1 finish the buffered stream naturally. + */ + std::cout + << "TTS playback finished\n"; + + return true; +} + +bool TextToSpeech::speak( + const std::string& text) +{ + if (!initialized_) { + std::cerr + << "TTS is not initialized\n"; + + return false; + } + + if (text.empty()) + return true; + + std::cout + << "R1: " + << text + << '\n'; + + const std::string piper_wav = + config_.output_wav; + + const std::string output_wav_16k = + "/tmp/r1_tts_16k.wav"; + + if (!synthesize( + text, + piper_wav)) { + + return false; + } + + /* + * Piper's Czech model produces 22050 Hz. + * + * R1 PlayStream requires 16000 Hz mono PCM. + * + * Resample with ffmpeg. + */ + std::ostringstream resample; + + resample + << "ffmpeg -y -loglevel error" + << " -i " + << '\'' + << piper_wav + << '\'' + << " -ar 16000" + << " -ac 1" + << " -c:a pcm_s16le" + << " " + << '\'' + << output_wav_16k + << '\'' + << " >/dev/null 2>&1"; + + if (!runCommand( + resample.str())) { + + std::cerr + << "ffmpeg resampling failed\n"; + + return false; + } + + std::vector pcm; + + uint32_t sample_rate = 0; + uint16_t channels = 0; + uint16_t bits = 0; + + if (!readWavPcm( + output_wav_16k, + pcm, + sample_rate, + channels, + bits)) { + + return false; + } + + std::cout + << "TTS WAV: " + << sample_rate + << " Hz, " + << channels + << " channel, " + << bits + << " bit, " + << pcm.size() + << " PCM bytes\n"; + + if (sample_rate != 16000 || + channels != 1 || + bits != 16) { + + std::cerr + << "Resampled WAV has unexpected format\n"; + + return false; + } + + return playPcm(pcm); +} + +} // namespace r1_voice diff --git a/r1/src/vision_node.cc b/r1/src/vision_node.cc new file mode 100644 index 0000000..094d4be --- /dev/null +++ b/r1/src/vision_node.cc @@ -0,0 +1,54 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +int main(int argc, char** argv) { + if (argc < 2) { + std::cerr << "Usage: vision_node \n"; + return 1; + } + + const std::string frame_path = "/dev/shm/robot_frame.jpg"; + const std::string temp_path = "/dev/shm/robot_frame.tmp.jpg"; + + unitree::robot::ChannelFactory::Instance()->Init(0, argv[1]); + unitree::robot::go2::VideoClient video; + video.SetTimeout(1.0f); + video.Init(); + + std::cout << "[SYS] Writing camera frames to " << frame_path << std::endl; + + std::vector image; + while (true) { + const int ret = video.GetImageSample(image); + if (ret != 0 || image.empty()) { + std::cerr << "[WARN] GetImageSample failed: " << ret << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(33)); + continue; + } + + bool ok = false; + { + std::ofstream f(temp_path, std::ios::binary | std::ios::trunc); + if (f) { + f.write(reinterpret_cast(image.data()), + static_cast(image.size())); + f.flush(); + ok = f.good(); + } + } + + if (ok && std::rename(temp_path.c_str(), frame_path.c_str()) != 0) { + std::perror("[ERROR] rename"); + } + + std::this_thread::sleep_for(std::chrono::milliseconds(33)); + } +} diff --git a/r1/src/voice_node.cc b/r1/src/voice_node.cc new file mode 100644 index 0000000..8607c5a --- /dev/null +++ b/r1/src/voice_node.cc @@ -0,0 +1,127 @@ +#include "r1_voice/conversation.hh" + +#include +#include +#include + +static void printUsage( + const char* program) +{ + std::cerr + << "Usage:\n\n" + << " " + << program + << " " + << "[whisper_cli] " + << "[whisper_model] " + << "[llm_url]\n\n" + + << "Example:\n\n" + + << " " + << program + << " enp3s0 " + << "/home/jvizner/esarobotech/whisper.cpp/build/bin/whisper-cli " + << "/home/jvizner/esarobotech/whisper.cpp/models/ggml-medium.bin " + << "http://127.0.0.1:8080/v1/chat/completions\n"; +} + +int main( + int argc, + char** argv) +{ + if (argc < 2) { + printUsage(argv[0]); + return EXIT_FAILURE; + } + + const std::string interface = + argv[1]; + + r1_voice::ConversationConfig config; + + // --------------------------------------------------------- + // Whisper STT + // --------------------------------------------------------- + + config.stt.whisper_cli = + argc >= 3 + ? argv[2] + : "/home/jvizner/esarobotech/whisper.cpp/build/bin/whisper-cli"; + + config.stt.whisper_model = + argc >= 4 + ? argv[3] + : "/home/jvizner/esarobotech/whisper.cpp/models/ggml-medium.bin"; + + // Czech speech + config.stt.language = "cs"; + + config.stt.threads = 8; + + // Better protection against clipping the first words. + config.stt.speech_threshold = 0.010f; + config.stt.preroll_ms = 800; + + config.stt.min_speech_ms = 250; + config.stt.silence_ms = 900; + config.stt.max_record_ms = 10000; + + // --------------------------------------------------------- + // Qwen LLM + // --------------------------------------------------------- + + config.llm.url = + argc >= 5 + ? argv[4] + : "http://127.0.0.1:8080/v1/chat/completions"; + + config.llm.model = "local"; + + config.llm.temperature = 0.4f; + config.llm.max_tokens = 80; + + config.llm.system_prompt = + "Jsi R1, 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, " + "nevymýšlej jeho význam a jednoduše požádej uživatele, aby větu zopakoval. " + "Neopakuj stále stejnou odpověď. " + "Nepoužívej Markdown. " + "Nevypisuj uvažování ani bloky."; + + // --------------------------------------------------------- + // Czech Piper TTS + // --------------------------------------------------------- + + config.tts.model = + "/home/jvizner/esarobotech/piper/cs_medium.onnx"; + + config.tts.output_wav = + "/tmp/r1_tts.wav"; + + config.tts.volume = 100; + + config.tts.app_name = + "example"; + + // --------------------------------------------------------- + // Conversation + // --------------------------------------------------------- + + r1_voice::Conversation conversation( + config + ); + + if (!conversation.init(interface)) { + std::cerr + << "Failed to initialize voice system\n"; + + return EXIT_FAILURE; + } + + conversation.run(); + + return EXIT_SUCCESS; +}

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