[G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112

[jayanth100798]

hello when i run the inference on sim i get this error

(unitree_lerobot) ras_desktop@ras-desktop-X870-AORUS-ELITE-WIFI7:~/unitree_IL_lerobot$ python unitree_lerobot/eval_robot/eval_g1_sim.py --policy.path=unitree_lerobot/lerobot/outputs/train/2026-02-18/01-24-51_act/checkpoints/020000/pretrained_model --repo_id=unitreerobotics/G1_Dex3_ToastedBread_Dataset --arm="G1_29" --ee="dex3" --visualization=true
INFO 2026-02-19 14:34:50 l_g1_sim.py:232 {'arm': 'G1_29',
'ee': 'dex3',
'episodes': 0,
'frequency': 30.0,
'headless': False,
'max_episodes': 1200,
'motion': False,
'policy': {'chunk_size': 100,
'device': 'cuda',
'dim_feedforward': 3200,
'dim_model': 512,
'dropout': 0.1,
'feedforward_activation': 'relu',
'input_features': {'observation.images.cam_left_high': {'shape': (3,
480,
640),
'type': <FeatureType.VISUAL: 'VISUAL'>},
'observation.images.cam_left_wrist': {'shape': (3,
480,
640),
'type': <FeatureType.VISUAL: 'VISUAL'>},
'observation.images.cam_right_high': {'shape': (3,
480,
640),
'type': <FeatureType.VISUAL: 'VISUAL'>},
'observation.images.cam_right_wrist': {'shape': (3,
480,
640),
'type': <FeatureType.VISUAL: 'VISUAL'>},
'observation.state': {'shape': (28,),
'type': <FeatureType.STATE: 'STATE'>}},
'kl_weight': 10.0,
'latent_dim': 32,
'license': None,
'n_action_steps': 100,
'n_decoder_layers': 1,
'n_encoder_layers': 4,
'n_heads': 8,
'n_obs_steps': 1,
'n_vae_encoder_layers': 4,
'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>},
'optimizer_lr': 1e-05,
'optimizer_lr_backbone': 1e-05,
'optimizer_weight_decay': 0.0001,
'output_features': {'action': {'shape': (28,),
'type': <FeatureType.ACTION: 'ACTION'>}},
'pre_norm': False,
'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
'pretrained_path': 'unitree_lerobot/lerobot/outputs/train/2026-02-18/01-24-51_act/checkpoints/020000/pretrained_model',
'private': None,
'push_to_hub': False,
'replace_final_stride_with_dilation': 0,
'repo_id': None,
'tags': None,
'temporal_ensemble_coeff': None,
'use_amp': False,
'use_vae': True,
'vision_backbone': 'resnet18'},
'rename_map': {},
'repo_id': 'unitreerobotics/G1_Dex3_ToastedBread_Dataset',
'root': '',
'save_data': False,
'send_real_robot': False,
'sim': True,
'task_dir': './data',
'use_dataset': False,
'visualization': True}
INFO 2026-02-19 14:34:50 l_g1_sim.py:240 Making policy.
Loading weights from local directory
14:34:51.161648 INFO Arguments: eval_g1_sim.py:66
EvalRealConfig(repo_id='unitreerobotics/G1_Dex3_ToastedBr
ead_Dataset', policy=ACTConfig(n_obs_steps=1,
input_features={'observation.state':
PolicyFeature(type=<FeatureType.STATE: 'STATE'>,
shape=(28,)), 'observation.images.cam_left_high':
PolicyFeature(type=<FeatureType.VISUAL: 'VISUAL'>,
shape=(3, 480, 640)),
'observation.images.cam_right_high':
PolicyFeature(type=<FeatureType.VISUAL: 'VISUAL'>,
shape=(3, 480, 640)),
'observation.images.cam_left_wrist':
PolicyFeature(type=<FeatureType.VISUAL: 'VISUAL'>,
shape=(3, 480, 640)),
'observation.images.cam_right_wrist':
PolicyFeature(type=<FeatureType.VISUAL: 'VISUAL'>,
shape=(3, 480, 640))}, output_features={'action':
PolicyFeature(type=<FeatureType.ACTION: 'ACTION'>,
shape=(28,))}, device='cuda', use_amp=False,
push_to_hub=False, repo_id=None, private=None, tags=None,
license=None,
pretrained_path='unitree_lerobot/lerobot/outputs/train/20
26-02-18/01-24-51_act/checkpoints/020000/pretrained_model
', chunk_size=100, n_action_steps=100,
normalization_mapping={'VISUAL':
<NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE':
<NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION':
<NormalizationMode.MEAN_STD: 'MEAN_STD'>},
vision_backbone='resnet18',
pretrained_backbone_weights='ResNet18_Weights.IMAGENET1K_
V1', replace_final_stride_with_dilation=0,
pre_norm=False, dim_model=512, n_heads=8,
dim_feedforward=3200, feedforward_activation='relu',
n_encoder_layers=4, n_decoder_layers=1, use_vae=True,
latent_dim=32, n_vae_encoder_layers=4,
temporal_ensemble_coeff=None, dropout=0.1,
kl_weight=10.0, optimizer_lr=1e-05,
optimizer_weight_decay=0.0001,
optimizer_lr_backbone=1e-05), root='', episodes=0,
frequency=30.0, arm='G1_29', ee='dex3', motion=False,
headless=False, sim=True, visualization=True,
send_real_robot=False, use_dataset=False,
save_data=False, task_dir='./data', max_episodes=1200,
rename_map={})
[2026-02-19T09:04:51Z INFO re_grpc_server] Listening for gRPC connections on 0.0.0.0:9876. Connect by running rerun --connect rerun+http://127.0.0.1:9876/proxy
[2026-02-19T09:04:51Z INFO winit::platform_impl::linux::x11::window] Guessed window scale factor: 1
[2026-02-19T09:04:51Z WARN wgpu_hal::vulkan::instance] Unable to find extension: VK_EXT_physical_device_drm
[2026-02-19T09:04:51Z WARN wgpu_hal::gles::egl] No config found!
[2026-02-19T09:04:51Z WARN wgpu_hal::gles::egl] EGL says it can present to the window but not natively

Image client has started, waiting to receive data...
[2026-02-19T09:04:51Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
[2026-02-19T09:04:51Z WARN wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
[2026-02-19T09:04:51Z INFO egui_wgpu] There were 4 available wgpu adapters: {backend: Vulkan, device_type: DiscreteGpu, name: "NVIDIA RTX 6000 Ada Generation", driver: "NVIDIA", driver_info: "580.105.08", vendor: NVIDIA (0x10DE), device: 0x26B1}, {backend: Vulkan, device_type: Cpu, name: "llvmpipe (LLVM 15.0.7, 256 bits)", driver: "llvmpipe", driver_info: "Mesa 23.2.1-1ubuntu3.122.04.3 (LLVM 15.0.7)", vendor: Mesa (0x10005)}, {backend: Vulkan, device_type: IntegratedGpu, name: "AMD Unknown (RADV RAPHAEL_MENDOCINO)", driver: "radv", driver_info: "Mesa 23.2.1-1ubuntu3.122.04.3", vendor: AMD (0x1002), device: 0x13C0}, {backend: Gl, device_type: Other, name: "NVIDIA RTX 6000 Ada Generation/PCIe/SSE2", driver_info: "3.3.0 NVIDIA 580.105.08", vendor: NVIDIA (0x10DE)}
[ChannelFactory] Initializing with Domain ID: 1, Interface: lo
14:34:53.460740 INFO Initialize G1_29_ArmController... robot_arm.py:70
14:34:53.779716 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:53.880033 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:53.980340 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.080647 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.180962 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.281216 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.381465 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.481801 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.582301 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.682570 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.782966 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.883284 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:54.983598 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112
14:34:55.083906 WARNING [G1_29_ArmController] Waiting to subscribe dds... robot_arm.py:112