1.创建Conda环境

conda create -n omnivla python=3.12 -y
pip install opencv-python numpy pyrealsense2

1.安装unitree_sdk2_python

cd ~
sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install -e .

2.如果未报错,这跳过这一步.如果pip3 install -e 报错,安装cyclonedds

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_DDSPERF=OFF
cmake --build . --target install

进入unitree_sdk2_python目录,设置cyclonedds路径

cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME="~/cyclonedds/install"
pip3 install -e .