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MARA COLLISION ORIENT

Error from Target orientation: (0,010171732097223038, 0,08843436401325859, -0,03614114663795839)

Error from Target orientation: (-0,05114559863465368, 0,08590517686372233, 0,09113307062949681)

Error from Target orientation: (-0,0319140246795335, 0,09734979693948566, -0,02134340295811405)

Error from Target orientation: (0,1167760059835005, 0,0030788361730206054, 0,18320521574705775)

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E: Unable to locate package python3-colcon-common-extensions
E: Unable to locate package python3-vcstool

FIX
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update
sudo apt-get install python3-vcstool

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Gripper slipping

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# FAILING TEST ------------------------------------------------ only first env test.
STARTING MARA ENVS TEST

Starting MARA-v0 environment test.

[INFO] [launch]: process[gzserver-2]: started with pid [9076]
[INFO] [launch]: process[spawn_mara_arg.py-3]: started with pid [9077]
[INFO] [launch]: process[mara_contact_publisher-4]: started with pid [9078]
[INFO] [launch]: process[hros_cognition_mara_components-1]: started with pid [9075]
Unknown tag "contact" in /robot[@name='mara']/link[@name='table']

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repositories:
  mara:
    type: git
    url: https://github.com/acutronicrobotics/MARA.git
    version: master
  HRIM:
    type: git
    url: https://github.com/erlerobot/HRIM.git
    version: Coliza
  mara_examples:

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Traceback (most recent call last):
  File "<string>", line 1, in <module>
UnicodeEncodeError: 'ascii' codec can't encode character '\xed' in position 261: ordinal not in range(128)
[4.874s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_wait_and_close_fds() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:253> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
[4.874s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_pipe2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:238> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
--- stderr: urdfdom_py

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# pip3 install git+https://github.com/espnet/espnet
# pip3 install "espnet[all]" <--- deps, not sure if espnet needs to be reinstalled from source after this, just make sure its March1 or later release
# pip3 install pyopenjtalk

import pyaudio
from espnet2.bin.tts_inference import Text2Speech
import numpy as np

import soundfile as sf