Merge pull request #1 from Juliaj/bringin_current_changes

Bringing in all current changes made in Feb 2026

Author: Juliaj

AmazingHand.code-workspace

@@ -0,0 +1,8 @@
+{
+	"folders": [
+		{
+			"path": "."
+		}
+	],
+	"settings": {}
+}

Demo/HandTracking/pyproject.toml

@@ -3,7 +3,7 @@ name = "HandTracking"
 version = "0.1.0"
 description = "Add your description here"
 readme = "README.md"
-requires-python = ">=3.9,<=3.12"
+requires-python = ">=3.9,<3.13"
 dependencies = [
     "dora-rs>=0.3.11,<=0.3.13",
     "loop-rate-limiters>=1.1.2",

Demo/dataflow_angle_simu.yml

@@ -1,14 +1,16 @@
+# Note: Using 'python -m pip' instead of 'pip' to ensure pixi environment's pip is used.
+# Direct 'pip' command may resolve to system pip which is externally-managed (PEP 668).
 nodes:
   - id: move_angle
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/examples/finger_angle_control.py
     inputs:
       tick: dora/timer/millis/50
     outputs:
       - hand_quat
 
   - id: hand_simulation_r
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_right.py
     inputs:
       r_hand_quat: move_angle/hand_quat
@@ -19,7 +21,7 @@ nodes:
     args: -m quat
 
   - id: hand_simulation_l
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_left.py
     inputs:
       l_hand_quat: move_angle/hand_quat

Demo/dataflow_tracking_real.yml

@@ -1,14 +1,16 @@
+# Note: Using 'python -m pip' instead of 'pip' to ensure pixi environment's pip is used.
+# Direct 'pip' command may resolve to system pip which is externally-managed (PEP 668).
 nodes:
   - id: hand_tracker
-    build: pip install -e HandTracking
+    build: python -m pip install -e HandTracking
     path: HandTracking/HandTracking/main.py
     inputs:
       tick: dora/timer/millis/50
     outputs:
       - r_hand_pos
 
   - id: r_hand_simulation
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_right.py
     inputs:
       r_hand_pos: hand_tracker/r_hand_pos

Demo/dataflow_tracking_real_2hands.yml

@@ -1,6 +1,8 @@
+# Note: Using 'python -m pip' instead of 'pip' to ensure pixi environment's pip is used.
+# Direct 'pip' command may resolve to system pip which is externally-managed (PEP 668).
 nodes:
   - id: hand_tracker
-    build: pip install -e HandTracking
+    build: python -m pip install -e HandTracking
     path: HandTracking/HandTracking/main.py
     inputs:
       tick: dora/timer/millis/50
@@ -9,7 +11,7 @@ nodes:
       - l_hand_pos
 
   - id: r_hand_simulation
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_right.py
     inputs:
       r_hand_pos: hand_tracker/r_hand_pos
@@ -19,7 +21,7 @@ nodes:
       - mj_r_joints_pos
 
   - id: l_hand_simulation
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_left.py
     inputs:
       l_hand_pos: hand_tracker/l_hand_pos

Demo/dataflow_tracking_simu.yml

@@ -1,6 +1,8 @@
+# Note: Using 'python -m pip' instead of 'pip' to ensure pixi environment's pip is used.
+# Direct 'pip' command may resolve to system pip which is externally-managed (PEP 668).
 nodes:
   - id: hand_tracker
-    build: pip install -e HandTracking
+    build: python -m pip install -e HandTracking
     path: HandTracking/HandTracking/main.py
     inputs:
       tick: dora/timer/millis/50
@@ -9,7 +11,7 @@ nodes:
       - l_hand_pos
 
   - id: r_hand_simulation
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_right.py
     inputs:
       r_hand_pos: hand_tracker/r_hand_pos
@@ -19,7 +21,7 @@ nodes:
       - mj_joints_pos
 
   - id: l_hand_simulation
-    build: pip install -e AHSimulation
+    build: python -m pip install -e AHSimulation
     path: AHSimulation/AHSimulation/mj_mink_left.py
     inputs:
       l_hand_pos: hand_tracker/l_hand_pos