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add r1 robot project

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This commit is contained in:
Jaroslav Vizner
2026-08-28 10:10:18 +02:00
parent 27aea1146d
commit 8d88495f6f
82 changed files with 22935 additions and 0 deletions
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r1/CMakeLists.txt
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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 ${INSTALL_TARGETS}
RUNTIME DESTINATION bin
)
if(BUILD_VISION)
install(
DIRECTORY config/
DESTINATION share/r1_vision/config
)
install(
PROGRAMS scripts/yolo_detector.py
DESTINATION share/r1_vision/scripts
)
endif()
r1/README.md
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# R1 Vision / Visual Servo Prototype
Standalone project for the Unitree R1. The Unitree SDK remains an external dependency.
## Layout
- `src/vision_node.cpp` — Unitree camera frames -> atomic `/dev/shm/robot_frame.jpg`
- `scripts/yolo_detector.py` — YOLO bottle detection -> `/dev/shm/robot_detection.json`
- `src/r1_hand_calibrate.cpp` — Pinocchio wrist + clicked wrist pixels -> camera extrinsics
- `src/r1_visual_servo.cpp` — YOLO bottle target + Pinocchio wrist projection -> image-space visual servo
- `include/r1_vision/robot_common.hpp` — 500 Hz `rt/lowcmd` controller
- `include/r1_vision/kinematics.hpp` — R1 joint state -> Pinocchio configuration / frame Jacobians
- `include/r1_vision/vision_io.hpp` — detection JSON reader
- `config/` — calibration files
## Dependencies
Assumes:
- Unitree SDK2 is built at `/home/jvizner/unitree_sdk2`
- R1 URDF is at `/home/jvizner/unitree_ros/robots/r1_description/R1.urdf`
- OpenCV, Eigen3, Pinocchio, C++17
- Python environment with Ultralytics + OpenCV + NumPy
Override the SDK path when configuring:
```bash
cmake -S . -B build -DUNITREE_SDK2_DIR=/home/jvizner/unitree_sdk2
```
Build:
```bash
cmake --build build -j$(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.
r1/build/CMakeCache.txt
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# 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)
Boost_SERIALIZATION_LIBRARY_DEBUG:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libboost_serialization.so
//Boost serialization library (release)
Boost_SERIALIZATION_LIBRARY_RELEASE:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libboost_serialization.so
//The directory containing a CMake configuration file for CLI11.
CLI11_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/cmake/CLI11
//Path to a program.
CMAKE_ADDR2LINE:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-addr2line
//Path to a program.
CMAKE_AR:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-ar
//Choose the type of build.
CMAKE_BUILD_TYPE:STRING=Release
//Enable/Disable color output during build.
CMAKE_COLOR_MAKEFILE:BOOL=ON
//CXX compiler
CMAKE_CXX_COMPILER:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_AR:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-gcc-ar
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-gcc-ranlib
//Flags used by the CXX compiler during all build types.
CMAKE_CXX_FLAGS:STRING=-fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include
//Flags used by the CXX compiler during DEBUG builds.
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
//Flags used by the CXX compiler during MINSIZEREL builds.
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the CXX compiler during RELEASE builds.
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//C compiler
CMAKE_C_COMPILER:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-cc
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_AR:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-gcc-ar
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_RANLIB:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-gcc-ranlib
//Flags used by the C compiler during all build types.
CMAKE_C_FLAGS:STRING=-march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include
//Flags used by the C compiler during DEBUG builds.
CMAKE_C_FLAGS_DEBUG:STRING=-g
//Flags used by the C compiler during MINSIZEREL builds.
CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the C compiler during RELEASE builds.
CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the C compiler during RELWITHDEBINFO builds.
CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//Path to a program.
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
//Flags used by the linker during all build types.
CMAKE_EXE_LINKER_FLAGS:STRING=-Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/home/jvizner/miniconda3/envs/ai_robot/lib -Wl,-rpath-link,/home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib
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CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during MINSIZEREL builds.
CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
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CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
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CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=
//User executables (bin)
CMAKE_INSTALL_BINDIR:PATH=bin
//Read-only architecture-independent data (DATAROOTDIR)
CMAKE_INSTALL_DATADIR:PATH=
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CMAKE_INSTALL_DATAROOTDIR:PATH=share
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CMAKE_INSTALL_DOCDIR:PATH=
//C header files (include)
CMAKE_INSTALL_INCLUDEDIR:PATH=include
//Info documentation (DATAROOTDIR/info)
CMAKE_INSTALL_INFODIR:PATH=
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CMAKE_INSTALL_LIBDIR:PATH=lib
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CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
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CMAKE_INSTALL_LOCALEDIR:PATH=
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CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
//Man documentation (DATAROOTDIR/man)
CMAKE_INSTALL_MANDIR:PATH=
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CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
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CMAKE_INSTALL_PREFIX:PATH=/usr/local
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CMAKE_INSTALL_RUNSTATEDIR:PATH=
//System admin executables (sbin)
CMAKE_INSTALL_SBINDIR:PATH=sbin
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CMAKE_INSTALL_SHAREDSTATEDIR:PATH=com
//Read-only single-machine data (etc)
CMAKE_INSTALL_SYSCONFDIR:PATH=etc
//Path to a program.
CMAKE_LINKER:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-ld
//Path to a program.
CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake
//Flags used by the linker during the creation of modules during
// all build types.
CMAKE_MODULE_LINKER_FLAGS:STRING=-Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/home/jvizner/miniconda3/envs/ai_robot/lib -Wl,-rpath-link,/home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib
//Flags used by the linker during the creation of modules during
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CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
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CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during the creation of modules during
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CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
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CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Path to a program.
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//Path to a program.
CMAKE_OBJDUMP:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-objdump
//Value Computed by CMake
CMAKE_PROJECT_DESCRIPTION:STATIC=
//Value Computed by CMake
CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
//Value Computed by CMake
CMAKE_PROJECT_NAME:STATIC=r1_vision
//Value Computed by CMake
CMAKE_PROJECT_VERSION:STATIC=2.0.0
//Value Computed by CMake
CMAKE_PROJECT_VERSION_MAJOR:STATIC=2
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CMAKE_PROJECT_VERSION_MINOR:STATIC=0
//Value Computed by CMake
CMAKE_PROJECT_VERSION_PATCH:STATIC=0
//Value Computed by CMake
CMAKE_PROJECT_VERSION_TWEAK:STATIC=
//Path to a program.
CMAKE_RANLIB:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-ranlib
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CMAKE_READELF:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-readelf
//Flags used by the linker during the creation of shared libraries
// during all build types.
CMAKE_SHARED_LINKER_FLAGS:STRING=-Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/home/jvizner/miniconda3/envs/ai_robot/lib -Wl,-rpath-link,/home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib
//Flags used by the linker during the creation of shared libraries
// during DEBUG builds.
CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during the creation of shared libraries
// during MINSIZEREL builds.
CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during the creation of shared libraries
// during RELEASE builds.
CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during the creation of shared libraries
// during RELWITHDEBINFO builds.
CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//If set, runtime paths are not added when installing shared libraries,
// but are added when building.
CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
//If set, runtime paths are not added when using shared libraries.
CMAKE_SKIP_RPATH:BOOL=NO
//Flags used by the linker during the creation of static libraries
// during all build types.
CMAKE_STATIC_LINKER_FLAGS:STRING=
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CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
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CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
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CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
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CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
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CMAKE_STRIP:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip
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CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
//The directory containing a CMake configuration file for CURL.
CURL_DIR:PATH=CURL_DIR-NOTFOUND
//Path to a file.
CURL_INCLUDE_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/include
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CURL_LIBRARY_DEBUG:FILEPATH=CURL_LIBRARY_DEBUG-NOTFOUND
//Path to a library.
CURL_LIBRARY_RELEASE:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libcurl.so
//Path to a file.
DL_INCLUDE_DIRS:PATH=/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/include
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DL_LIBRARIES:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libdl.a
//Set CMAKE_CXX_STANDARD if a dependency require it
ENFORCE_MINIMAL_CXX_STANDARD:BOOL=OFF
//The directory containing a CMake configuration file for Eigen3.
Eigen3_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/eigen3/cmake
//Compile with a sanitizer. Options are: Address, Memory, MemoryWithOrigins,
// Undefined, Thread, Leak, 'Address;Undefined', CFI
GZ_SANITIZER:STRING=
//CXX compiler flags for OpenMP parallelization
OpenMP_CXX_FLAGS:STRING=-fopenmp
//CXX compiler libraries for OpenMP parallelization
OpenMP_CXX_LIB_NAMES:STRING=gomp;pthread
//C compiler flags for OpenMP parallelization
OpenMP_C_FLAGS:STRING=-fopenmp
//C compiler libraries for OpenMP parallelization
OpenMP_C_LIB_NAMES:STRING=gomp;pthread
//Path to the gomp library for OpenMP
OpenMP_gomp_LIBRARY:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libgomp.so
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OpenMP_pthread_LIBRARY:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libpthread.a
//Arguments to supply to pkg-config
PKG_CONFIG_ARGN:STRING=
//pkg-config executable
PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
//The directory containing a CMake configuration file for Qhull.
Qhull_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/Qhull
//The directory containing a CMake configuration file for SDFormat.
SDFormat_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/sdformat
//Path to a library.
TINYXML2_LIBRARY_tinyxml2:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/libtinyxml2.so
//Path to unitree_sdk2
UNITREE_SDK2_DIR:PATH=/home/jvizner/unitree_sdk2
//Path to a library.
UNITREE_SDK_LIB:FILEPATH=/home/jvizner/unitree_sdk2/lib/x86_64/libunitree_sdk2.a
//The directory containing a CMake configuration file for boost_container.
boost_container_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/boost_container-1.90.0
//The directory containing a CMake configuration file for boost_headers.
boost_headers_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/boost_headers-1.90.0
//The directory containing a CMake configuration file for boost_program_options.
boost_program_options_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/boost_program_options-1.90.0
//The directory containing a CMake configuration file for casadi.
casadi_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/casadi
//The directory containing a CMake configuration file for coal.
coal_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal
//The directory containing a CMake configuration file for gz-cmake.
gz-cmake_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/cmake/gz-cmake
//The directory containing a CMake configuration file for gz-math.
gz-math_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-math
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gz-utils-cli_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-utils-cli
//The directory containing a CMake configuration file for gz-utils.
gz-utils_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/gz-utils
//The directory containing a CMake configuration file for octomap.
octomap_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/octomap
//Path to a library.
onelib:FILEPATH=/home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_world.so
//Path to a library.
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('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))
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('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))
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char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
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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'};
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/* Construct a string literal encoding the internal version number. */
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char const info_version_internal[] = {
'I', 'N', 'F', 'O', ':',
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
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#elif defined(COMPILER_VERSION_INTERNAL_STR)
char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
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/* 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','[',
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# ifdef SIMULATE_VERSION_MINOR
'.', SIMULATE_VERSION_MINOR,
# ifdef SIMULATE_VERSION_PATCH
'.', SIMULATE_VERSION_PATCH,
# ifdef SIMULATE_VERSION_TWEAK
'.', SIMULATE_VERSION_TWEAK,
# endif
# endif
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']','\0'};
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/* Construct the string literal in pieces to prevent the source from
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because some compilers will just produce instructions to fill the
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char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
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"17"
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"14"
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"11"
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"98"
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const char* info_language_extensions_default = "INFO" ":" "extensions_default["
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"ON"
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"OFF"
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/*--------------------------------------------------------------------------*/
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];
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require += info_language_standard_default[argc];
require += info_language_extensions_default[argc];
(void)argv;
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r1/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out
Executable
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/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 \
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/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sockets/posix.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_rtps.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_vendor.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_guid.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_time.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_locator.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_log.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/log.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/rusage.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/sched.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/threads/posix.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_typelib.h \
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/static_assert.h \
/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 \
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/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 \
/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 \
/home/jvizner/unitree_sdk2/include/unitree/common/log/log_buffer.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/log/log_keeper.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/log/log_logger.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/block_queue.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/time/sleep.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_exception.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_error.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_callback.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_qos_policy.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_native.hpp \
/home/jvizner/unitree_sdk2/include/unitree/common/dds/dds_traits.hpp \
/home/jvizner/unitree_sdk2/include/unitree/robot/channel/channel_namer.hpp \
/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
r1/build/Makefile
+1135
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r1/build/cmake_install.cmake
+74
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# Install script for directory: /home/jvizner/esarobotech/r1
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "Release")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
# Set default install directory permissions.
if(NOT DEFINED CMAKE_OBJDUMP)
set(CMAKE_OBJDUMP "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-objdump")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice")
file(RPATH_CHECK
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice"
RPATH "")
endif()
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/jvizner/esarobotech/r1/build/r1_voice")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice")
file(RPATH_CHANGE
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice"
OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:"
NEW_RPATH "")
if(CMAKE_INSTALL_DO_STRIP)
execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_voice")
endif()
endif()
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/jvizner/esarobotech/r1/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")
r1/build/r1_mic_test
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r1/build/r1_voice
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r1/config/camera_extrinsics.yaml
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r1/config/camera_intrinsics.yaml
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r1/include/r1_vision/pinocchio_kinematics.hh
+91
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#pragma once
#include <array>
#include <string>
#include <Eigen/Dense>
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
#include <pinocchio/multibody/data.hpp>
#include <pinocchio/multibody/model.hpp>
namespace r1_vision {
inline Eigen::VectorXd MakePinocchioQ(
const pinocchio::Model& model,
const std::array<float, 12>& robot_q)
{
Eigen::VectorXd q = pinocchio::neutral(model);
static const std::array<const char*, 12> 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<float, 12>& 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<int>(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<float, 12>& 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<int>(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
r1/include/r1_vision/robot_controller.hh
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r1/include/r1_vision/vision.hh
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r1/include/r1_voice/conversation.hh
+37
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@@ -0,0 +1,37 @@
#pragma once
#include <string>
#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
r1/include/r1_voice/llm.hh
+57
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#pragma once
#include <string>
#include <vector>
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<ChatMessage> 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
r1/include/r1_voice/stt.hh
+49
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@@ -0,0 +1,49 @@
#pragma once
#include <string>
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
r1/include/r1_voice/tts.hh
+65
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@@ -0,0 +1,65 @@
#pragma once
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
#include <unitree/robot/r1/audio/audio_client.hpp>
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<uint8_t>& pcm,
uint32_t& sample_rate,
uint16_t& channels,
uint16_t& bits_per_sample
);
bool playPcm(
const std::vector<uint8_t>& pcm
);
};
} // namespace r1_voice
r1/include/robot_common.hh
+233
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@@ -0,0 +1,233 @@
#pragma once
#include <algorithm>
#include <array>
#include <atomic>
#include <chrono>
#include <cstdint>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <unistd.h>
#include <unitree/robot/channel/channel_factory.hpp>
#include <unitree/robot/channel/channel_publisher.hpp>
#include <unitree/robot/channel/channel_subscriber.hpp>
#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
#include <unitree/idl/hg/LowCmd_.hpp>
#include <unitree/idl/hg/LowState_.hpp>
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<int, kNumMotors> kJointId = {
15, 16, 17, 18, 19,
22, 23, 24, 25, 26,
29, 30
};
inline constexpr std::array<const char*, kNumMotors> 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<float, kNumMotors> 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<float, kNumMotors> 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<unitree::robot::b2::MotionSwitcherClient>();
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<ChannelPublisher<LowCmd_>>("rt/lowcmd");
lowcmd_->InitChannel();
lowstate_ = std::make_shared<ChannelSubscriber<LowState_>>("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<std::mutex> 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<const LowState_*>(message);
const uint32_t crc = Crc32Core(
reinterpret_cast<uint32_t*>(const_cast<LowState_*>(&state)),
(sizeof(LowState_) >> 2) - 1);
if (state.crc() != crc) return;
std::lock_guard<std::mutex> 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<std::mutex> 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<uint32_t*>(&cmd),
(sizeof(cmd) >> 2) - 1);
lowcmd_->Write(cmd);
std::this_thread::sleep_until(next);
}
}
std::array<float, kNumMotors> CurrentQ() const {
std::lock_guard<std::mutex> lock(mutex_);
return current_q_;
}
float CurrentJoint(int joint) const {
std::lock_guard<std::mutex> lock(mutex_);
return current_q_.at(joint);
}
void SetTargets(const std::array<float, kNumMotors>& q) {
std::lock_guard<std::mutex> lock(mutex_);
target_q_ = q;
}
void SetJointTarget(int joint, float q) {
std::lock_guard<std::mutex> 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<double>(
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<float>(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<unitree::robot::b2::MotionSwitcherClient> motion_switcher_;
ChannelPublisherPtr<LowCmd_> lowcmd_;
ChannelSubscriberPtr<LowState_> lowstate_;
std::thread writer_thread_;
std::atomic<bool> running_{false};
std::atomic<bool> state_received_{false};
mutable std::mutex mutex_;
std::array<float, kNumMotors> current_q_{};
std::array<float, kNumMotors> target_q_{};
uint8_t mode_machine_{0};
};
} // namespace r1_vision
r1/include/vision_io.hh
+115
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#pragma once
#include <algorithm>
#include <chrono>
#include <cmath>
#include <fstream>
#include <sstream>
#include <string>
#include <thread>
#include <vector>
#include <unistd.h>
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<double>(
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<double> us;
std::vector<double> vs;
const auto start = std::chrono::steady_clock::now();
while (static_cast<int>(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<double>(
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<double>& 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
r1/scripts/yolo_detector.py
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r1/src/conversation.cc
+101
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#include "r1_voice/conversation.hh"
#include <chrono>
#include <iostream>
#include <thread>
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<int>(
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
r1/src/llm.cc
+391
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#include "r1_voice/llm.hh"
#include <curl/curl.h>
#include <iostream>
#include <sstream>
#include <stdexcept>
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<std::string*>(user);
output->append(
static_cast<char*>(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("<think>");
if (begin == std::string::npos)
break;
const size_t end =
text.find(
"</think>",
begin
);
if (end == std::string::npos) {
text.erase(begin);
break;
}
const size_t len =
end +
std::string("</think>").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
r1/src/r1_hand_calibrate.cc
+205
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#include <array>
#include <iostream>
#include <string>
#include <vector>
#include <unistd.h>
#include <opencv2/opencv.hpp>
#include <unitree/robot/go2/video/video_client.hpp>
#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<ClickState*>(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<uint8_t> jpeg;
if (camera.GetImageSample(jpeg) != 0 || jpeg.empty()) return {};
cv::Mat encoded(1, static_cast<int>(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 <network_interface> <camera_intrinsics.yaml>\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<cv::Point3f> robot_points;
std::vector<cv::Point2f> 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<float>(click.point.x),
static_cast<float>(click.point.y));
robot_points.emplace_back(
static_cast<float>(wrist.x()),
static_cast<float>(wrist.y()),
static_cast<float>(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<int> 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<cv::Point2f> 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;
}
r1/src/r1_mic_test.cc
+306
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@@ -0,0 +1,306 @@
#include <arpa/inet.h>
#include <cstring>
#include <fstream>
#include <ifaddrs.h>
#include <iostream>
#include <netdb.h>
#include <netinet/in.h>
#include <string>
#include <sys/socket.h>
#include <unistd.h>
#include <vector>
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<int16_t>& 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<const char*>(&riff_size),
4
);
f.write("WAVE", 4);
f.write("fmt ", 4);
const uint32_t fmt_size = 16;
f.write(
reinterpret_cast<const char*>(&fmt_size),
4
);
f.write(
reinterpret_cast<const char*>(&format),
2
);
f.write(
reinterpret_cast<const char*>(&channels),
2
);
f.write(
reinterpret_cast<const char*>(&sample_rate),
4
);
f.write(
reinterpret_cast<const char*>(&byte_rate),
4
);
f.write(
reinterpret_cast<const char*>(&block_align),
2
);
f.write(
reinterpret_cast<const char*>(&bits),
2
);
f.write("data", 4);
f.write(
reinterpret_cast<const char*>(&data_size),
4
);
f.write(
reinterpret_cast<const char*>(pcm.data()),
data_size
);
}
int main(int argc, char** argv)
{
if (argc != 2) {
std::cerr
<< "Usage: "
<< argv[0]
<< " <interface>\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<sockaddr*>(&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<int16_t> 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;
}
r1/src/stt.cc
+658
View File
@@ -0,0 +1,658 @@
#include "r1_voice/stt.hh"
#include <arpa/inet.h>
#include <cerrno>
#include <cmath>
#include <cstdio>
#include <cstring>
#include <fstream>
#include <ifaddrs.h>
#include <iostream>
#include <netdb.h>
#include <netinet/in.h>
#include <sstream>
#include <stdexcept>
#include <string>
#include <sys/socket.h>
#include <unistd.h>
#include <vector>
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<float>(samples[i]) /
32768.0f;
sum +=
static_cast<double>(sample) *
static_cast<double>(sample);
}
return static_cast<float>(
std::sqrt(sum / count)
);
}
void writeWav(
const std::string& filename,
const std::vector<int16_t>& 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<uint32_t>(
pcm.size() * sizeof(int16_t)
);
const uint32_t riff_size =
36 + data_size;
file.write(
"RIFF",
4
);
file.write(
reinterpret_cast<const char*>(&riff_size),
sizeof(riff_size)
);
file.write(
"WAVE",
4
);
file.write(
"fmt ",
4
);
const uint32_t fmt_size = 16;
file.write(
reinterpret_cast<const char*>(&fmt_size),
sizeof(fmt_size)
);
file.write(
reinterpret_cast<const char*>(&audio_format),
sizeof(audio_format)
);
file.write(
reinterpret_cast<const char*>(&channels),
sizeof(channels)
);
file.write(
reinterpret_cast<const char*>(&sample_rate),
sizeof(sample_rate)
);
file.write(
reinterpret_cast<const char*>(&byte_rate),
sizeof(byte_rate)
);
file.write(
reinterpret_cast<const char*>(&block_align),
sizeof(block_align)
);
file.write(
reinterpret_cast<const char*>(&bits_per_sample),
sizeof(bits_per_sample)
);
file.write(
"data",
4
);
file.write(
reinterpret_cast<const char*>(&data_size),
sizeof(data_size)
);
if (!pcm.empty()) {
file.write(
reinterpret_cast<const char*>(pcm.data()),
static_cast<std::streamsize>(
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<sockaddr*>(&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<int16_t> audio;
const size_t reserve_samples =
static_cast<size_t>(
SAMPLE_RATE *
config_.max_record_ms /
1000
);
audio.reserve(reserve_samples);
std::vector<int16_t> preroll;
const size_t preroll_samples =
static_cast<size_t>(
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<size_t>(len) / 2;
const int packet_ms =
static_cast<int>(
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<double>(
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
r1/src/tts.cc
+672
View File
@@ -0,0 +1,672 @@
#include "r1_voice/tts.hh"
#include <algorithm>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <fstream>
#include <iostream>
#include <sstream>
#include <stdexcept>
#include <vector>
#include <chrono>
#include <thread>
#include <sys/wait.h>
#include <unitree/common/time/time_tool.hpp>
#include <unitree/robot/channel/channel_factory.hpp>
namespace r1_voice {
namespace {
bool readU16(
std::ifstream& f,
uint16_t& value)
{
f.read(
reinterpret_cast<char*>(&value),
sizeof(value)
);
return static_cast<bool>(f);
}
bool readU32(
std::ifstream& f,
uint32_t& value)
{
f.read(
reinterpret_cast<char*>(&value),
sizeof(value)
);
return static_cast<bool>(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<uint8_t>(
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<uint8_t>& 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<char*>(pcm.data()),
static_cast<std::streamsize>(
data_size
)
);
if (!f) {
std::cerr
<< "Failed reading PCM data\n";
return false;
}
return true;
}
bool TextToSpeech::playPcm(
const std::vector<uint8_t>& 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<uint8_t> chunk(
pcm.begin() +
static_cast<std::ptrdiff_t>(offset),
pcm.begin() +
static_cast<std::ptrdiff_t>(
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<int64_t>(
(static_cast<double>(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<uint8_t> 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
r1/src/vision_node.cc
+54
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@@ -0,0 +1,54 @@
#include <cstdio>
#include <fstream>
#include <iostream>
#include <string>
#include <thread>
#include <vector>
#include <chrono>
#include <unitree/robot/go2/video/video_client.hpp>
#include <unitree/robot/channel/channel_factory.hpp>
int main(int argc, char** argv) {
if (argc < 2) {
std::cerr << "Usage: vision_node <network_interface>\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<uint8_t> 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<const char*>(image.data()),
static_cast<std::streamsize>(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));
}
}
r1/src/voice_node.cc
+127
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#include "r1_voice/conversation.hh"
#include <cstdlib>
#include <iostream>
#include <string>
static void printUsage(
const char* program)
{
std::cerr
<< "Usage:\n\n"
<< " "
<< program
<< " <network_interface> "
<< "[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 <think> 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;
}