drake_walking example notebook errors

[xela-95]

I tried to run the https://github.com/ami-iit/comodo/blob/main/examples/drake_walking.ipynb example notebook from the main branch, and I'm getting the following error:

# Modify the robot model and initialize
create_urdf_instance.modify_lengths(modifications)
urdf_robot_string = create_urdf_instance.write_urdf_to_file()
create_urdf_instance.reset_modifications()
robot_model_init = RobotModel(urdf_robot_string, "stickBot", joint_name_list)
s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking()
robot_model_init.set_foot_corner(
    np.asarray([0.1, 0.05, 0.0]),
    np.asarray([0.1, -0.05, 0.0]),
    np.asarray([-0.1, -0.05, 0.0]),
    np.asarray([-0.1, 0.05, 0.0]),
)

In order to make the notebook run I had to add this statement, after the s_des, xyz_rpy, H_b = robot_model_init.compute_desired_position_walking() :

robot_model_init.set_foot_corner(
    np.asarray([0.1, 0.05, 0.0]),
    np.asarray([0.1, -0.05, 0.0]),
    np.asarray([-0.1, -0.05, 0.0]),
    np.asarray([-0.1, 0.05, 0.0]),
)

System info

I'm using bipedal-locomotion-framework==0.19.0 and drake==1.34.0

Conda list

# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
_x86_64-microarch-level   3                     2_skylake    conda-forge
absl-py                   2.1.0              pyhd8ed1ab_0    conda-forge
ace                       8.0.1                he02047a_0    conda-forge
adam-robotics             0.0.9.dev199             pypi_0    pypi
aiohappyeyeballs          2.4.3              pyhd8ed1ab_0    conda-forge
aiohttp                   3.10.10         py310h89163eb_0    conda-forge
aiosignal                 1.3.1              pyhd8ed1ab_0    conda-forge
alsa-lib                  1.2.12               h4ab18f5_0    conda-forge
amo-urdf                  0.0.1                    pypi_0    pypi
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
anyio                     4.6.2.post1        pyhd8ed1ab_0    conda-forge
aom                       3.9.1                hac33072_0    conda-forge
argon2-cffi               23.1.0             pyhd8ed1ab_0    conda-forge
argon2-cffi-bindings      21.2.0          py310ha75aee5_5    conda-forge
arrow                     1.3.0              pyhd8ed1ab_0    conda-forge
assimp                    5.4.3                h8943939_0    conda-forge
asttokens                 2.4.1              pyhd8ed1ab_0    conda-forge
async-lru                 2.0.4              pyhd8ed1ab_0    conda-forge
async-timeout             4.0.3              pyhd8ed1ab_0    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
attrs                     24.2.0             pyh71513ae_0    conda-forge
babel                     2.14.0             pyhd8ed1ab_0    conda-forge
beautifulsoup4            4.12.3             pyha770c72_0    conda-forge
bipedal-locomotion-framework 0.19.0               ha770c72_5    conda-forge
bipedal-locomotion-framework-python 0.19.0          py310hdd7d4c4_5    conda-forge
bleach                    6.1.0              pyhd8ed1ab_0    conda-forge
blosc                     1.21.6               hef167b5_0    conda-forge
brotli                    1.1.0                hb9d3cd8_2    conda-forge
brotli-bin                1.1.0                hb9d3cd8_2    conda-forge
brotli-python             1.1.0           py310hf71b8c6_2    conda-forge
bzip2                     1.0.8                h4bc722e_7    conda-forge
c-ares                    1.34.2               heb4867d_0    conda-forge
ca-certificates           2024.8.30            hbcca054_0    conda-forge
cached-property           1.5.2                hd8ed1ab_1    conda-forge
cached_property           1.5.2              pyha770c72_1    conda-forge
cairo                     1.18.0               hebfffa5_3    conda-forge
casadi                    3.6.7           py310h23aa882_0    conda-forge
certifi                   2024.8.30          pyhd8ed1ab_0    conda-forge
cffi                      1.17.1          py310h8deb56e_0    conda-forge
cftime                    1.6.4           py310hf462985_1    conda-forge
charset-normalizer        3.4.0              pyhd8ed1ab_0    conda-forge
chex                      0.1.87             pyhd8ed1ab_0    conda-forge
cli11                     2.4.1                h59595ed_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
coloredlogs               15.0.1             pyhd8ed1ab_3    conda-forge
comm                      0.2.2              pyhd8ed1ab_0    conda-forge
comodo                    0.0.1                     dev_0    <develop>
console_bridge            1.0.2                h924138e_1    conda-forge
contourpy                 1.3.0           py310h3788b33_2    conda-forge
cppad                     20240000.7           h5888daf_1    conda-forge
cpython                   3.10.15         py310hd8ed1ab_2    conda-forge
cudatoolkit               11.8.0              h4ba93d1_13    conda-forge
cycler                    0.12.1             pyhd8ed1ab_0    conda-forge
dataclasses               0.8                pyhc8e2a94_3    conda-forge
dav1d                     1.2.1                hd590300_0    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
debugpy                   1.8.7           py310hf71b8c6_0    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
docstring_parser          0.16               pyhd8ed1ab_0    conda-forge
double-conversion         3.3.0                h59595ed_0    conda-forge
drake                     1.34.0                   pypi_0    pypi
eigen                     3.4.0                h00ab1b0_0    conda-forge
elfutils                  0.192                h1fa0c75_0    conda-forge
entrypoints               0.4                pyhd8ed1ab_0    conda-forge
etils                     1.10.0             pyhd8ed1ab_0    conda-forge
exceptiongroup            1.2.2              pyhd8ed1ab_0    conda-forge
executing                 2.1.0              pyhd8ed1ab_0    conda-forge
expat                     2.6.3                h5888daf_0    conda-forge
ffmpeg                    6.1.2           gpl_hdfc89ed_706    conda-forge
filelock                  3.16.1             pyhd8ed1ab_0    conda-forge
flann                     1.9.2                h54ed35b_1    conda-forge
fmt                       11.0.2               h434a139_0    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 h77eed37_3    conda-forge
fontconfig                2.15.0               h7e30c49_1    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.54.1          py310h89163eb_1    conda-forge
fqdn                      1.5.1              pyhd8ed1ab_0    conda-forge
freeglut                  3.2.2                ha6d2627_3    conda-forge
freetype                  2.12.1               h267a509_2    conda-forge
freetype-py               2.5.1              pyhd8ed1ab_0    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
frozendict                2.4.6           py310ha75aee5_0    conda-forge
frozenlist                1.5.0           py310ha75aee5_0    conda-forge
fsspec                    2024.10.0          pyhff2d567_0    conda-forge
future                    1.0.0              pyhd8ed1ab_0    conda-forge
gdbm                      1.18                 h0a1914f_2    conda-forge
gettext                   0.22.5               he02047a_3    conda-forge
gettext-tools             0.22.5               he02047a_3    conda-forge
gl2ps                     1.4.2                hae5d5c5_1    conda-forge
glew                      2.1.0                h9c3ff4c_2    conda-forge
glfw                      3.4                  hd590300_0    conda-forge
glib                      2.82.2               h44428e9_0    conda-forge
glib-tools                2.82.2               h4833e2c_0    conda-forge
gmp                       6.3.0                hac33072_2    conda-forge
gmpy2                     2.1.5           py310he8512ff_2    conda-forge
gnutls                    3.8.7                h32866dd_0    conda-forge
graphite2                 1.3.13            h59595ed_1003    conda-forge
gst-plugins-base          1.24.7               h0a52356_0    conda-forge
gstreamer                 1.24.7               hf3bb09a_0    conda-forge
gz-tools2                 2.0.1                ha770c72_0    conda-forge
h11                       0.14.0             pyhd8ed1ab_0    conda-forge
h2                        4.1.0              pyhd8ed1ab_0    conda-forge
h5py                      3.12.1          nompi_py310h60e0fe6_102    conda-forge
harfbuzz                  9.0.0                hda332d3_1    conda-forge
hdf4                      4.2.15               h2a13503_7    conda-forge
hdf5                      1.14.3          nompi_hdf9ad27_105    conda-forge
hpack                     4.0.0              pyh9f0ad1d_0    conda-forge
httpcore                  1.0.6              pyhd8ed1ab_0    conda-forge
httpx                     0.27.2             pyhd8ed1ab_0    conda-forge
humanfriendly             10.0               pyhd8ed1ab_6    conda-forge
hyperframe                6.0.1              pyhd8ed1ab_0    conda-forge
icu                       75.1                 he02047a_0    conda-forge
idna                      3.10               pyhd8ed1ab_0    conda-forge
idyntree                  13.1.1          py310h2e4eca6_0    conda-forge
imageio                   2.36.0             pyh12aca89_1    conda-forge
imath                     3.1.12               h7955e40_0    conda-forge
importlib-metadata        8.5.0              pyha770c72_0    conda-forge
importlib_metadata        8.5.0                hd8ed1ab_0    conda-forge
importlib_resources       6.4.5              pyhd8ed1ab_0    conda-forge
ipopt                     3.14.16             h122424a_10    conda-forge
ipykernel                 6.29.5             pyh3099207_0    conda-forge
ipython                   8.28.0             pyh707e725_0    conda-forge
irrlicht                  1.8.5                hcce6d95_5    conda-forge
isoduration               20.11.0            pyhd8ed1ab_0    conda-forge
jasper                    4.2.4                h536e39c_0    conda-forge
jax                       0.4.34             pyhd8ed1ab_0    conda-forge
jax-dataclasses           1.6.1              pyhd8ed1ab_0    conda-forge
jax2torch                 0.0.7              pyhd8ed1ab_0    conda-forge
jaxlib                    0.4.34          cpu_py310he8f111e_0    conda-forge
jaxlie                    1.4.1              pyhd8ed1ab_0    conda-forge
jaxsim                    0.4.3.dev245+dirty          pypi_0    pypi
jedi                      0.19.1             pyhd8ed1ab_0    conda-forge
jinja2                    3.1.4              pyhd8ed1ab_0    conda-forge
json5                     0.9.25             pyhd8ed1ab_0    conda-forge
jsoncpp                   1.9.5                h4bd325d_1    conda-forge
jsonpointer               3.0.0           py310hff52083_1    conda-forge
jsonschema                4.23.0             pyhd8ed1ab_0    conda-forge
jsonschema-specifications 2024.10.1          pyhd8ed1ab_0    conda-forge
jsonschema-with-format-nongpl 4.23.0               hd8ed1ab_0    conda-forge
jupyter-lsp               2.2.5              pyhd8ed1ab_0    conda-forge
jupyter_client            8.6.3              pyhd8ed1ab_0    conda-forge
jupyter_core              5.7.2              pyh31011fe_1    conda-forge
jupyter_events            0.10.0             pyhd8ed1ab_0    conda-forge
jupyter_server            2.14.2             pyhd8ed1ab_0    conda-forge
jupyter_server_terminals  0.5.3              pyhd8ed1ab_0    conda-forge
jupyterlab                4.2.5              pyhd8ed1ab_0    conda-forge
jupyterlab_pygments       0.3.0              pyhd8ed1ab_1    conda-forge
jupyterlab_server         2.27.3             pyhd8ed1ab_0    conda-forge
kernel-headers_linux-64   3.10.0              he073ed8_17    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.7           py310h3788b33_0    conda-forge
krb5                      1.21.3               h659f571_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
lcms2                     2.16                 hb7c19ff_0    conda-forge
ld_impl_linux-64          2.43                 h712a8e2_2    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libabseil                 20240722.0      cxx17_h5888daf_1    conda-forge
libaec                    1.1.3                h59595ed_0    conda-forge
libarchive                3.7.4                hfca40fe_0    conda-forge
libasprintf               0.22.5               he8f35ee_3    conda-forge
libasprintf-devel         0.22.5               he8f35ee_3    conda-forge
libass                    0.17.3               h1dc1e6a_0    conda-forge
libbipedal-locomotion-framework 0.19.0               h153e8a6_5    conda-forge
libblas                   3.9.0           25_linux64_openblas    conda-forge
libblasfeo                0.1.3              had105d5_303    conda-forge
libboost                  1.86.0               hb8260a3_2    conda-forge
libboost-headers          1.86.0               ha770c72_2    conda-forge
libbrotlicommon           1.1.0                hb9d3cd8_2    conda-forge
libbrotlidec              1.1.0                hb9d3cd8_2    conda-forge
libbrotlienc              1.1.0                hb9d3cd8_2    conda-forge
libcap                    2.69                 h0f662aa_0    conda-forge
libcblas                  3.9.0           25_linux64_openblas    conda-forge
libccd-double             2.1                  h59595ed_3    conda-forge
libclang-cpp15            15.0.7          default_h127d8a8_5    conda-forge
libclang-cpp19.1          19.1.2          default_hb5137d0_1    conda-forge
libclang13                19.1.2          default_h9c6a7e4_1    conda-forge
libcups                   2.3.3                h4637d8d_4    conda-forge
libcurl                   8.10.1               hbbe4b11_0    conda-forge
libdeflate                1.22                 hb9d3cd8_0    conda-forge
libdrm                    2.4.123              hb9d3cd8_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libegl                    1.7.0                ha4b6fd6_1    conda-forge
libev                     4.33                 hd590300_2    conda-forge
libevent                  2.1.12               hf998b51_1    conda-forge
libexpat                  2.6.3                h5888daf_0    conda-forge
libfatrop                 0.0.4                h5888daf_0    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.4.3                h59595ed_0    conda-forge
libgcc                    14.2.0               h77fa898_1    conda-forge
libgcc-ng                 14.2.0               h69a702a_1    conda-forge
libgcrypt                 1.11.0               h4ab18f5_1    conda-forge
libgettextpo              0.22.5               he02047a_3    conda-forge
libgettextpo-devel        0.22.5               he02047a_3    conda-forge
libgfortran               14.2.0               h69a702a_1    conda-forge
libgfortran-ng            14.2.0               h69a702a_1    conda-forge
libgfortran5              14.2.0               hd5240d6_1    conda-forge
libgl                     1.7.0                ha4b6fd6_1    conda-forge
libglib                   2.82.2               h2ff4ddf_0    conda-forge
libglu                    9.0.0             ha6d2627_1004    conda-forge
libglvnd                  1.7.0                ha4b6fd6_1    conda-forge
libglx                    1.7.0                ha4b6fd6_1    conda-forge
libgomp                   14.2.0               h77fa898_1    conda-forge
libgpg-error              1.50                 h4f305b6_0    conda-forge
libgrpc                   1.65.5               hf5c653b_0    conda-forge
libgz-cmake3              3.5.3                hac33072_0    conda-forge
libgz-math7               7.5.1                h5888daf_0    conda-forge
libgz-tools2              2.0.1                h4149140_0    conda-forge
libgz-utils2              2.2.0                h5888daf_0    conda-forge
libhwloc                  2.11.1          default_hecaa2ac_1000    conda-forge
libi2c                    4.4                  h5888daf_0    conda-forge
libiconv                  1.17                 hd590300_2    conda-forge
libidn2                   2.3.7                hd590300_0    conda-forge
libjpeg-turbo             3.0.0                hd590300_1    conda-forge
liblapack                 3.9.0           25_linux64_openblas    conda-forge
liblapacke                3.9.0           25_linux64_openblas    conda-forge
liblie-group-controllers  0.2.0                hcb278e6_0    conda-forge
libllvm15                 15.0.7               hb3ce162_4    conda-forge
libllvm19                 19.1.2               ha7bfdaf_0    conda-forge
libmatio                  1.5.27               hd8a4993_0    conda-forge
libmatio-cpp              0.2.5                h78af97e_1    conda-forge
libmicrohttpd             1.0.1                hbc5bc17_1    conda-forge
libmujoco                 3.2.4                h1419bf0_1    conda-forge
libnetcdf                 4.9.2           nompi_h135f659_114    conda-forge
libnghttp2                1.64.0               h161d5f1_0    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libogg                    1.3.5                h4ab18f5_0    conda-forge
libopenblas               0.3.28          pthreads_h94d23a6_0    conda-forge
libopencv                 4.10.0          qt6_py39h3509402_607    conda-forge
libopengl                 1.7.0                ha4b6fd6_1    conda-forge
libopenvino               2024.4.0             hac27bb2_1    conda-forge
libopenvino-auto-batch-plugin 2024.4.0             h4d9b6c2_1    conda-forge
libopenvino-auto-plugin   2024.4.0             h4d9b6c2_1    conda-forge
libopenvino-hetero-plugin 2024.4.0             h3f63f65_1    conda-forge
libopenvino-intel-cpu-plugin 2024.4.0             hac27bb2_1    conda-forge
libopenvino-intel-gpu-plugin 2024.4.0             hac27bb2_1    conda-forge
libopenvino-intel-npu-plugin 2024.4.0             hac27bb2_1    conda-forge
libopenvino-ir-frontend   2024.4.0             h3f63f65_1    conda-forge
libopenvino-onnx-frontend 2024.4.0             he882d9a_1    conda-forge
libopenvino-paddle-frontend 2024.4.0             he882d9a_1    conda-forge
libopenvino-pytorch-frontend 2024.4.0             h5888daf_1    conda-forge
libopenvino-tensorflow-frontend 2024.4.0             h9718a47_1    conda-forge
libopenvino-tensorflow-lite-frontend 2024.4.0             h5888daf_1    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libosqp                   0.6.3                h5888daf_1    conda-forge
libpciaccess              0.18                 hd590300_0    conda-forge
libpng                    1.6.44               hadc24fc_0    conda-forge
libpq                     16.4                 h2d7952a_3    conda-forge
libprotobuf               5.27.5               h5b01275_2    conda-forge
libqdldl                  0.1.7                hcb278e6_0    conda-forge
libre2-11                 2024.07.02           hbbce691_1    conda-forge
librealsense              2.54.2          py310h2ab81a5_1_cuda    conda-forge
librobometry              1.2.4                hf1989b1_1    conda-forge
libscotch                 7.0.4                h2fe6a88_5    conda-forge
libsdformat13             13.6.0               hfcee85c_4    conda-forge
libsndfile                1.2.2                hc60ed4a_1    conda-forge
libsodium                 1.0.20               h4ab18f5_0    conda-forge
libspral                  2024.05.08           h831f25b_3    conda-forge
libsqlite                 3.47.0               hadc24fc_0    conda-forge
libssh2                   1.11.0               h0841786_0    conda-forge
libstdcxx                 14.2.0               hc0a3c3a_1    conda-forge
libstdcxx-ng              14.2.0               h4852527_1    conda-forge
libsystemd0               256.7                h2774228_0    conda-forge
libtasn1                  4.19.0               h166bdaf_0    conda-forge
libtheora                 1.1.1             h4ab18f5_1006    conda-forge
libtiff                   4.7.0                he137b08_1    conda-forge
libtorch                  2.4.1           cpu_generic_hca457ed_2    conda-forge
libudev1                  256.7                hb9d3cd8_0    conda-forge
libunicycle-footstep-planner 0.8.0                h3bbd76f_1    conda-forge
libunistring              0.9.10               h7f98852_0    conda-forge
libusb                    1.0.27             h520f47e_100    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libuv                     1.49.2               hb9d3cd8_0    conda-forge
libva                     2.22.0               h8a09558_1    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.14.1               hac33072_0    conda-forge
libwebp-base              1.4.0                hd590300_0    conda-forge
libxcb                    1.17.0               h8a09558_0    conda-forge
libxcrypt                 4.4.36               hd590300_1    conda-forge
libxkbcommon              1.7.0                h2c5496b_1    conda-forge
libxml2                   2.13.4               hb346dea_2    conda-forge
libxslt                   1.1.39               h76b75d6_0    conda-forge
libyarp                   3.9.0                hf7bdaec_6    conda-forge
libzip                    1.11.1               hf83b1b0_0    conda-forge
libzlib                   1.3.1                hb9d3cd8_2    conda-forge
lodepng                   20220109             h924138e_0    conda-forge
loguru                    0.7.2           py310hff52083_2    conda-forge
lxml                      5.3.0           py310h6ee67d5_1    conda-forge
lz4-c                     1.9.4                hcb278e6_0    conda-forge
lzo                       2.10              hd590300_1001    conda-forge
manif                     0.0.5                h5888daf_2    conda-forge
manifpy                   0.0.5           py310hfa1d285_2    conda-forge
markdown-it-py            3.0.0              pyhd8ed1ab_0    conda-forge
markupsafe                3.0.2           py310h89163eb_0    conda-forge
mashumaro                 3.13.1             pyhd8ed1ab_0    conda-forge
matplotlib                3.9.2           py310hff52083_1    conda-forge
matplotlib-base           3.9.2           py310h68603db_1    conda-forge
matplotlib-inline         0.1.7              pyhd8ed1ab_0    conda-forge
mdurl                     0.1.2              pyhd8ed1ab_0    conda-forge
mediapy                   1.2.2              pyhd8ed1ab_0    conda-forge
mesalib                   24.2.5               h0b126fc_1    conda-forge
meshio                    5.3.5              pyhd8ed1ab_0    conda-forge
metis                     5.1.0             hd0bcaf9_1007    conda-forge
mistune                   3.0.2              pyhd8ed1ab_0    conda-forge
ml_dtypes                 0.5.0           py310h5eaa309_0    conda-forge
mpc                       1.3.1                h24ddda3_1    conda-forge
mpfr                      4.2.1                h90cbb55_3    conda-forge
mpg123                    1.32.6               h59595ed_0    conda-forge
mpmath                    1.3.0              pyhd8ed1ab_0    conda-forge
msgpack-python            1.1.0           py310h3788b33_0    conda-forge
mujoco                    3.2.4                hff52083_1    conda-forge
mujoco-python             3.2.4           py310h85c501a_1    conda-forge
mujoco-python-viewer      0.1.4              pyhd8ed1ab_0    conda-forge
mujoco-samples            3.2.4                h5888daf_1    conda-forge
mujoco-simulate           3.2.4                h5888daf_1    conda-forge
multidict                 6.1.0           py310h89163eb_1    conda-forge
mumps-include             5.7.3                ha770c72_5    conda-forge
mumps-seq                 5.7.3                h27a6a8b_0    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mysql-common              9.0.1                h266115a_1    conda-forge
mysql-libs                9.0.1                he0572af_1    conda-forge
nbclient                  0.10.0             pyhd8ed1ab_0    conda-forge
nbconvert-core            7.16.4             pyhd8ed1ab_1    conda-forge
nbformat                  5.10.4             pyhd8ed1ab_0    conda-forge
ncurses                   6.5                  he02047a_1    conda-forge
nest-asyncio              1.6.0              pyhd8ed1ab_0    conda-forge
netcdf4                   1.7.1           nompi_py310h9f0ad05_102    conda-forge
nettle                    3.9.1                h7ab15ed_0    conda-forge
networkx                  3.4.2              pyhd8ed1ab_0    conda-forge
nlohmann_json             3.11.3               he02047a_1    conda-forge
nomkl                     1.0                  h5ca1d4c_0    conda-forge
notebook                  7.2.2              pyhd8ed1ab_0    conda-forge
notebook-shim             0.2.4              pyhd8ed1ab_0    conda-forge
nspr                      4.36                 h5888daf_0    conda-forge
nss                       3.105                hd34e28f_0    conda-forge
numpy                     1.26.4          py310hb13e2d6_0    conda-forge
ocl-icd                   2.3.2                hd590300_1    conda-forge
onnxruntime-cpp           1.18.1          h0d3cf91_201_cuda    conda-forge
openexr                   3.2.2                h04e0de5_2    conda-forge
openh264                  2.4.1                h59595ed_0    conda-forge
openjpeg                  2.5.2                h488ebb8_0    conda-forge
openssl                   3.4.0                hb9d3cd8_0    conda-forge
opt-einsum                3.4.0                hd8ed1ab_0    conda-forge
opt_einsum                3.4.0              pyhd8ed1ab_0    conda-forge
optax                     0.2.3              pyhd8ed1ab_0    conda-forge
osqp-eigen                0.8.1                hdd734ac_1    conda-forge
overrides                 7.7.0              pyhd8ed1ab_0    conda-forge
p11-kit                   0.24.1               hc5aa10d_0    conda-forge
packaging                 24.1               pyhd8ed1ab_0    conda-forge
pandocfilters             1.5.0              pyhd8ed1ab_0    conda-forge
parso                     0.8.4              pyhd8ed1ab_0    conda-forge
pcl                       1.14.1               hd932182_6    conda-forge
pcre2                     10.44                hba22ea6_2    conda-forge
pexpect                   4.9.0              pyhd8ed1ab_0    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pillow                    11.0.0          py310hfeaa1f3_0    conda-forge
pip                       24.2               pyh8b19718_1    conda-forge
pixman                    0.43.2               h59595ed_0    conda-forge
pkgutil-resolve-name      1.3.10             pyhd8ed1ab_1    conda-forge
platformdirs              4.3.6              pyhd8ed1ab_0    conda-forge
portaudio                 19.6.0               h7c63dc7_9    conda-forge
pptree                    3.1                pyhd8ed1ab_0    conda-forge
prettytable               3.11.0             pyhd8ed1ab_0    conda-forge
proj                      9.5.0                h12925eb_0    conda-forge
prometheus_client         0.21.0             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.48             pyha770c72_0    conda-forge
propcache                 0.2.0           py310ha75aee5_2    conda-forge
proxsuite                 0.6.7           py310h3788b33_1    conda-forge
psutil                    6.0.0           py310ha75aee5_2    conda-forge
pthread-stubs             0.4               hb9d3cd8_1002    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pugixml                   1.14                 h59595ed_0    conda-forge
pulseaudio-client         17.0                 hb77b528_0    conda-forge
pure_eval                 0.2.3              pyhd8ed1ab_0    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pycollada                 0.8                pyhd8ed1ab_0    conda-forge
pycparser                 2.22               pyhd8ed1ab_0    conda-forge
pydot                     3.0.2                    pypi_0    pypi
pyglet                    1.5.16          py310hff52083_1    conda-forge
pyglfw                    2.7.0              pyha770c72_1    conda-forge
pygments                  2.18.0             pyhd8ed1ab_0    conda-forge
pyopengl                  3.1.6              pyhd8ed1ab_1    conda-forge
pyparsing                 3.2.0              pyhd8ed1ab_1    conda-forge
pyribbit                  0.1.46             pyha21a80b_0    conda-forge
pyside6                   6.7.3           py310hfd10a26_1    conda-forge
pysocks                   1.7.1              pyha2e5f31_6    conda-forge
python                    3.10.15         h4a871b0_2_cpython    conda-forge
python-dateutil           2.9.0              pyhd8ed1ab_0    conda-forge
python-fastjsonschema     2.20.0             pyhd8ed1ab_0    conda-forge
python-json-logger        2.0.7              pyhd8ed1ab_0    conda-forge
python_abi                3.10                    5_cp310    conda-forge
pytorch                   2.4.1           cpu_generic_py310h6bb2ca9_2    conda-forge
pytz                      2024.2             pyhd8ed1ab_0    conda-forge
pyyaml                    6.0.2           py310ha75aee5_1    conda-forge
pyzmq                     26.2.0          py310h71f11fc_3    conda-forge
qhull                     2020.2               h434a139_5    conda-forge
qt-main                   5.15.8              h3155989_26    conda-forge
qt6-main                  6.7.3                h20baabe_0    conda-forge
re2                       2024.07.02           h77b4e00_1    conda-forge
readline                  8.2                  h8228510_1    conda-forge
referencing               0.35.1             pyhd8ed1ab_0    conda-forge
requests                  2.32.3             pyhd8ed1ab_0    conda-forge
resolve-robotics-uri-py   0.3.0              pyhd8ed1ab_0    conda-forge
rfc3339-validator         0.1.4              pyhd8ed1ab_0    conda-forge
rfc3986-validator         0.1.1              pyh9f0ad1d_0    conda-forge
rich                      13.9.3             pyhd8ed1ab_0    conda-forge
robot-testing-framework   2.0.1                hcb278e6_1    conda-forge
rod                       0.3.3              pyhd8ed1ab_0    conda-forge
rpds-py                   0.20.0          py310h505e2c1_1    conda-forge
ruby                      3.3.3                h3da8d8b_0    conda-forge
scipy                     1.14.1          py310hfcf56fc_1    conda-forge
sdl                       1.2.68               h293081c_0    conda-forge
sdl2                      2.30.7               h3ed165c_0    conda-forge
send2trash                1.8.3              pyh0d859eb_0    conda-forge
setuptools                75.1.0             pyhd8ed1ab_0    conda-forge
shtab                     1.7.1              pyhd8ed1ab_0    conda-forge
simde                     0.8.2                h84d6215_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
sleef                     3.7                  h1b44611_0    conda-forge
snappy                    1.2.1                ha2e4443_0    conda-forge
sniffio                   1.3.1              pyhd8ed1ab_0    conda-forge
soupsieve                 2.5                pyhd8ed1ab_1    conda-forge
soxr                      0.1.3                h0b41bf4_3    conda-forge
spdlog                    1.14.1               hed91bc2_1    conda-forge
sqlite                    3.47.0               h9eae976_0    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
svt-av1                   2.3.0                h5888daf_0    conda-forge
sympy                     1.13.3           pyh2585a3b_104    conda-forge
sysroot_linux-64          2.17                h4a8ded7_17    conda-forge
tbb                       2021.13.0            h84d6215_0    conda-forge
tbb-devel                 2021.13.0            h94b29a5_0    conda-forge
terminado                 0.18.1             pyh0d859eb_0    conda-forge
tiny-process-library      2.0.4                h5888daf_2    conda-forge
tinycss2                  1.3.0              pyhd8ed1ab_0    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tinyxml2                  10.0.0               h59595ed_0    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
tl-optional               1.1.0                hf52228f_1    conda-forge
tomli                     2.0.2              pyhd8ed1ab_0    conda-forge
tomlplusplus              3.3.0                hcb278e6_0    conda-forge
toolz                     1.0.0              pyhd8ed1ab_0    conda-forge
tornado                   6.4.1           py310ha75aee5_1    conda-forge
tqdm                      4.67.0             pyhd8ed1ab_0    conda-forge
traitlets                 5.14.3             pyhd8ed1ab_0    conda-forge
trimesh                   4.4.9              pyhd8ed1ab_0    conda-forge
types-python-dateutil     2.9.0.20241003     pyhff2d567_0    conda-forge
typing-extensions         4.12.2               hd8ed1ab_0    conda-forge
typing_extensions         4.12.2             pyha770c72_0    conda-forge
typing_utils              0.1.0              pyhd8ed1ab_0    conda-forge
tyro                      0.8.14             pyhd8ed1ab_0    conda-forge
tzdata                    2024b                hc8b5060_0    conda-forge
unicodedata2              15.1.0          py310ha75aee5_1    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urchin                    0.0.27             pyha21a80b_0    conda-forge
urdf-parser-py            0.0.4                    pypi_0    pypi
urdfdom                   4.0.1                h7fd8c06_0    conda-forge
urdfdom-py                1.2.1           py310hff52083_5    conda-forge
urdfdom_headers           1.1.2                h84d6215_0    conda-forge
urdfmodifiers             0.0.2                    pypi_0    pypi
uri-template              1.3.0              pyhd8ed1ab_0    conda-forge
urllib3                   2.2.3              pyhd8ed1ab_0    conda-forge
utfcpp                    4.0.5                ha770c72_0    conda-forge
visit_struct              1.1.0                hcb278e6_0    conda-forge
vtk                       9.3.1           qt_py310he5e186c_207    conda-forge
vtk-base                  9.3.1           qt_py310he2a704d_207    conda-forge
vtk-io-ffmpeg             9.3.1           qt_py310hc8241c7_207    conda-forge
wayland                   1.23.1               h3e06ad9_0    conda-forge
wayland-protocols         1.37                 hd8ed1ab_0    conda-forge
wcwidth                   0.2.13             pyhd8ed1ab_0    conda-forge
webcolors                 24.8.0             pyhd8ed1ab_0    conda-forge
webencodings              0.5.1              pyhd8ed1ab_2    conda-forge
websocket-client          1.8.0              pyhd8ed1ab_0    conda-forge
wheel                     0.44.0             pyhd8ed1ab_0    conda-forge
wslink                    2.2.1              pyhd8ed1ab_0    conda-forge
x264                      1!164.3095           h166bdaf_2    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xcb-util                  0.4.1                hb711507_2    conda-forge
xcb-util-cursor           0.1.5                hb9d3cd8_0    conda-forge
xcb-util-image            0.4.0                hb711507_2    conda-forge
xcb-util-keysyms          0.4.1                hb711507_0    conda-forge
xcb-util-renderutil       0.3.10               hb711507_0    conda-forge
xcb-util-wm               0.4.2                hb711507_0    conda-forge
xkeyboard-config          2.43                 hb9d3cd8_0    conda-forge
xmltodict                 0.14.2             pyhd8ed1ab_0    conda-forge
xorg-glproto              1.4.17            hb9d3cd8_1003    conda-forge
xorg-libice               1.1.1                hb9d3cd8_1    conda-forge
xorg-libsm                1.2.4                he73a12e_1    conda-forge
xorg-libx11               1.8.10               h4f16b4b_0    conda-forge
xorg-libxau               1.0.11               hb9d3cd8_1    conda-forge
xorg-libxdamage           1.1.6                hb9d3cd8_0    conda-forge
xorg-libxdmcp             1.1.5                hb9d3cd8_0    conda-forge
xorg-libxext              1.3.6                hb9d3cd8_0    conda-forge
xorg-libxfixes            6.0.1                hb9d3cd8_0    conda-forge
xorg-libxi                1.8.2                hb9d3cd8_0    conda-forge
xorg-libxinerama          1.1.5                h5888daf_1    conda-forge
xorg-libxrandr            1.5.4                hb9d3cd8_0    conda-forge
xorg-libxrender           0.9.11               hb9d3cd8_1    conda-forge
xorg-libxt                1.3.0                hb9d3cd8_2    conda-forge
xorg-libxtst              1.2.5                hb9d3cd8_3    conda-forge
xorg-libxxf86vm           1.1.5                hb9d3cd8_4    conda-forge
xorg-xextproto            7.3.0             hb9d3cd8_1004    conda-forge
xorg-xf86vidmodeproto     2.3.1             hb9d3cd8_1004    conda-forge
xorg-xorgproto            2024.1               hb9d3cd8_1    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yarl                      1.15.5          py310ha75aee5_0    conda-forge
ycm-cmake-modules         0.16.9               h5888daf_0    conda-forge
zeromq                    4.3.5                h3b0a872_6    conda-forge
zipp                      3.20.2             pyhd8ed1ab_0    conda-forge
zlib                      1.3.1                hb9d3cd8_2    conda-forge
zstandard                 0.23.0          py310ha39cb0e_1    conda-forge
zstd                      1.5.6                ha6fb4c9_0    conda-forge

[xela-95]

xref: #23 in which I'm getting the same results also with an environment installed with pixi.