Adds teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example by yami007007 · Pull Request #3242 · isaac-sim/IsaacLab

yami007007 · 2025-08-21T13:01:18Z

Description

Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example.

Type of change

New feature (non-breaking change which adds functionality)

Changes:

-Preparation of the humanoid robot asset: Unitree G1 (29 DOF) with Inspire 5-finger hand
-Configuration of the robot’s articulation
-Retargeting setup for the humanoid robot
-Creation of the manipulation task environment: pickplace_unitree_g1_inspire_hand_env_cfg.py
-Updated the how-to tutorial of cloudxr_teleoperation.rst.

Below is a diagram showing the robot asset and the workflow in teleop.

Test Steps

Run the teleop task with:
python scripts/tools/record_demos.py
--task Isaac-PickPlace-G1-InspireFTP-Abs-v0
--teleop_device handtracking
--enable_pinocchio
Replay the collected demos with:
python scripts/tools/replay_demos.py
--task Isaac-PickPlace-G1-InspireFTP-Abs-v0
--enable_pinocchio
--dataset_file datasets/dataset.hdf5

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

…ask example)

kellyguo11

@rwiltz @peterd-NV - would be great to get your review on the retargeting and pick-place task changes

kellyguo11 · 2025-08-29T20:48:24Z

+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.


could you clean up the headers to keep just the first section?

kellyguo11 · 2025-08-29T21:20:15Z

+"""
+G1_INSPIRE_FTP_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"./usecase/humanoid_teleop/g1_29dof_rev_1_0_with_inspire_hand_FTP/g1_29dof_rev_1_0_with_inspire_hand_retarget_inspire_white.usd",


we should get this USD uploaded to the Isaac Sim nucleus folder so that we can make it available publicly on the S3 bucket

how different is this asset from the existing G1 on S3?

The USD file and corresponding URDF files(left hand and right hand) for dex retargeting configuration have been uploaded to temp position Collected_g1_29dof
I am confirming with @renato Gasoto regarding the correct destination and access permissions.

This G1_29dof asset is different from the existing G1 on S3 in the following ways:

Number of DOFs: The current G1 on S3 has 23 DOFs, while the new version has 29 DOFs.

Composited asset: The new asset integrates the 5-finger Inspire hand, and both the robot/hand asset and merging code are provided below.
"""
Configuration for the Unitree G1 Humanoid robot with Inspire 5fingers hand.
The Unitree G1 URDF can be found here: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
The Inspire hand URDF is available at: https://github.com/unitreerobotics/xr_teleoperate/tree/main/assets/inspire_hand
The merging code for the hand and robot can be found here: https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb,
Necessary modifications should be made to ensure the correct parent–child relationship.
"""

Note: There is a related PR3150, which includes modifications to some common files. Once PR3150 is merged, I can rebase my code to avoid any duplication. Thanks.

…5-finger hand

Signed-off-by: yami007007 <weihuaz@nvidia.com>

ooctipus · 2025-09-04T22:48:18Z

 """Retargeters for mapping input device data to robot commands."""

 from .humanoid.fourier.gr1t2_retargeter import GR1T2Retargeter, GR1T2RetargeterCfg
+from .humanoid.unitree.unitree_g1_retargeter import UnitreeG1Retargeter, UnitreeG1RetargeterCfg


high level comment:
robot - worflow specific definition maybe more appropriate in isaaclab_tasks rather than in core. Things in core should be mostly just pure interface how robot - worflow specific definition should use them

Yes, that makes more sense. Since we are following the GR1 convention and the code freeze is approaching, we can refactor this part in the next release?

kellyguo11

The gifs are quite large, can we ask Sheikh to upload them to the server similar to the other mimic gifs? https://nvidia.slack.com/archives/C07C06BV4VB/p1747662149763689. image files should be .jpg for smaller image size.

kellyguo11 · 2025-09-04T22:48:45Z

+        hand_joint_names: list[str],
+        right_hand_config_filename: str = "unitree_hand_right_dexpilot.yml",
+        left_hand_config_filename: str = "unitree_hand_left_dexpilot.yml",
+        left_hand_urdf_path: str = "omniverse://isaac-dev.ov.nvidia.com/Projects/agile/Robots/Collected_g1_29dof/g1_29dof_rev_1_0_retarget_left_hand.urdf",


assets will need to be uploaded to S3.

Yes, @sheikh is handling this.

kellyguo11 · 2025-09-04T22:50:17Z

+"""
+G1_INSPIRE_FTP_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path="omniverse://isaac-dev.ov.nvidia.com/Projects/agile/Robots/Collected_g1_29dof/g1_29dof_rev_1_0_with_inspire_hand.usd",


asset will need to be uploaded to S3

do we have the license for this file as well?

Currently, there is an issue with the usd asset. Confirming with Renato.

kellyguo11 · 2025-09-04T22:52:03Z

@@ -0,0 +1,147 @@
+# Teleoperation


can we move this to the official docs instead of having it separately in the code? imitation learning and teleoperation docs are under https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/index.html. we can also make this into a how-to guide here - https://isaac-sim.github.io/IsaacLab/main/source/how-to/index.html

Moved the ReadMe to docs/source/how-to/cloudxr_teleoperation.rst.

kellyguo11 · 2025-09-04T22:54:09Z

    body_pos_w = env.scene["robot"].data.body_pos_w
-    left_eef_idx = env.scene["robot"].data.body_names.index("left_hand_roll_link")
-    right_eef_idx = env.scene["robot"].data.body_names.index("right_hand_roll_link")
+    if env.unwrapped.cfg.robot_name == "Unitree_G1":


would be good to avoid the ifs by robot name. can we make the body name a parameter instead that can be define through the config?

Updated, use parameter instead of if statements.

kellyguo11 · 2025-09-04T22:54:27Z

 ) -> torch.Tensor:
-    hand_joint_states = env.scene["robot"].data.joint_pos[:, -22:]  # Hand joints are last 22 entries of joint state
-
+    if env.unwrapped.cfg.robot_name == "Unitree_G1":


would be good to avoid the if statement here as well

Updated: use a parameter instead of if statements.

kellyguo11 · 2025-09-04T22:54:36Z

    # Get right wrist position relative to environment origin
    robot_body_pos_w = env.scene["robot"].data.body_pos_w
-    right_eef_idx = env.scene["robot"].data.body_names.index("right_hand_roll_link")
+    if env.unwrapped.cfg.robot_name == "Unitree_G1":


same comment as above

yami007007 · 2025-09-08T11:55:24Z

The gifs are quite large, can we ask Sheikh to upload them to the server similar to the other mimic gifs? https://nvidia.slack.com/archives/C07C06BV4VB/p1747662149763689. image files should be .jpg for smaller image size.

Deleted the gifs, moved the ReadMe to docs/source/how-to/cloudxr_teleoperation.rst.

rwiltz · 2025-09-08T12:04:22Z

+    hand_joint_names: list[str] | None = None  # List of robot hand joint names
+
+
+class UnitreeG1Retargeter(RetargeterBase):


I think we need to rebase this change on top of: #3150 and rename both of the retargeters so they are clear which is the 5 finger hand and which is the 3 finger hand https://github.com/isaac-sim/IsaacLab/pull/3150/files#diff-736ef5d8d689c193e9a8d81c7348d635659fb8fc4a0e28c9447eec5e986d0c5cR33

That makes more sense. Updated.

…ask example)

… 5-finger hand

…efore

rwiltz · 2025-09-10T18:57:34Z

Move source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_retargeter.py -> source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_upper_body_retargeter.py

That makes more sense. Updated.

rwiltz · 2025-09-10T18:58:02Z

Move source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/g1_dex_retargeting_utils.py
-> source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py

rwiltz · 2025-09-10T18:58:30Z

Move source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/data/configs/dex-retargeting/unitree_hand_left_dexpilot.yml -> source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_left_dexpilot.yml

rwiltz · 2025-09-10T18:58:47Z

Move source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/data/configs/dex-retargeting/unitree_hand_right_dexpilot.yml -> source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/data/configs/dex-retargeting/unitree_hand_right_dexpilot.yml

…finger hand

rwiltz · 2025-09-10T21:24:19Z

                    position_cost=8.0,  # [cost] / [m]
                    orientation_cost=1.0,  # [cost] / [rad]
-                    lm_damping=10,  # dampening for solver for step jumps
+                    lm_damping=12,  # dampening for solver for step jumps


@michaellin6 is this a concern for any downstream datasets or workflows?

Not sure why this change is needed, but at least it passes my test so it should be ok.

rwiltz

LGTM from teleop side

…n/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description Fix: teleop G1 with Inspire hand (PR #3242), modifications includes: - Correct the USD asset path of G1_INSPIRE_FTP_CFG - Increase arm damping for stability using the new pink_ik wrapper ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots - Only modified the `unitree.py` file. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

) # Description Fix: teleop G1 with Inspire hand (PR #3242), add the Isaac-PickPlace-G1-InspireFTP-Abs-v0 task into environment docs. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

…ickPlace task as an example (isaac-sim#3242) # Description Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example. # Type of change - New feature (non-breaking change which adds functionality) ## Changes: -Preparation of the humanoid robot asset: Unitree G1 (29 DOF) with Inspire 5-finger hand -Configuration of the robot’s articulation -Retargeting setup for the humanoid robot -Creation of the manipulation task environment: pickplace_unitree_g1_inspire_hand_env_cfg.py -Updated the how-to tutorial of [cloudxr_teleoperation.rst](https://github.com/isaac-sim/IsaacLab/pull/3242/files#diff-3896784d4dbd3e2106adae8f4ab65530a3bb87430cf8d15463aff37f3a975fec). Below is a diagram showing the robot asset and the workflow in teleop. ![teleop_diagram](https://github.com/user-attachments/assets/4c247c6d-57d6-4d18-90ed-1b2af7827437) # Test Steps 1. Run the teleop task with: python scripts/tools/record_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --teleop_device handtracking \ --enable_pinocchio 2. Replay the collected demos with: python scripts/tools/replay_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --enable_pinocchio \ --dataset_file datasets/dataset.hdf5 ## Screenshots Please attach before and after screenshots of the change if applicable. ![changelog](https://github.com/user-attachments/assets/e8781d07-b327-4b56-b528-fcbafbaf15b9) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: yami007007 <weihuaz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>

# Description Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), modifications includes: - Correct the USD asset path of G1_INSPIRE_FTP_CFG - Increase arm damping for stability using the new pink_ik wrapper ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots - Only modified the `unitree.py` file. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

…aac-sim#3479) # Description Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), add the Isaac-PickPlace-G1-InspireFTP-Abs-v0 task into environment docs. ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

…ickPlace task as an example (isaac-sim#3242) Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example. - New feature (non-breaking change which adds functionality) -Preparation of the humanoid robot asset: Unitree G1 (29 DOF) with Inspire 5-finger hand -Configuration of the robot’s articulation -Retargeting setup for the humanoid robot -Creation of the manipulation task environment: pickplace_unitree_g1_inspire_hand_env_cfg.py -Updated the how-to tutorial of [cloudxr_teleoperation.rst](https://github.com/isaac-sim/IsaacLab/pull/3242/files#diff-3896784d4dbd3e2106adae8f4ab65530a3bb87430cf8d15463aff37f3a975fec). Below is a diagram showing the robot asset and the workflow in teleop. ![teleop_diagram](https://github.com/user-attachments/assets/4c247c6d-57d6-4d18-90ed-1b2af7827437) 1. Run the teleop task with: python scripts/tools/record_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --teleop_device handtracking \ --enable_pinocchio 2. Replay the collected demos with: python scripts/tools/replay_demos.py \ --task Isaac-PickPlace-G1-InspireFTP-Abs-v0 \ --enable_pinocchio \ --dataset_file datasets/dataset.hdf5 Please attach before and after screenshots of the change if applicable. ![changelog](https://github.com/user-attachments/assets/e8781d07-b327-4b56-b528-fcbafbaf15b9) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: yami007007 <weihuaz@nvidia.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>

# Description Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), modifications includes: - Correct the USD asset path of G1_INSPIRE_FTP_CFG - Increase arm damping for stability using the new pink_ik wrapper ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots - Only modified the `unitree.py` file. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

…aac-sim#3479) Fix: teleop G1 with Inspire hand (PR isaac-sim#3242), add the Isaac-PickPlace-G1-InspireFTP-Abs-v0 task into environment docs. - Documentation update - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

yami007007 added 2 commits August 21, 2025 20:44

Teleop support for Unitree G1 with Inspire 5-finger hand (PickPlace t…

b6e3893

…ask example)

Teleop support for Unitree G1 with Inspire 5-finger hand (PickPlace t…

324b8a6

…ask example)

yami007007 requested review from Mayankm96 and pascal-roth as code owners August 21, 2025 13:01

ooctipus changed the title ~~Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example~~ Teleops support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example Aug 21, 2025

ooctipus changed the title ~~Teleops support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example~~ Adds teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example Aug 21, 2025

kellyguo11 reviewed Aug 29, 2025

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kellyguo11 requested review from peterd-NV and rwiltz August 29, 2025 21:22

Fix bug and add ReadMe for teleop support of Unitree G1 with Inspire …

7c6f656

…5-finger hand

yami007007 requested a review from jtigue-bdai as a code owner September 2, 2025 09:27

Merge branch 'main' into unitree_insipire_5fingers_teleop

0a15110

Signed-off-by: yami007007 <weihuaz@nvidia.com>

ooctipus reviewed Sep 4, 2025

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kellyguo11 reviewed Sep 4, 2025

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kellyguo11 and others added 2 commits September 6, 2025 20:03

Merge branch 'main' into unitree_insipire_5fingers_teleop

feefcab

Rebase to main branch, delete the if statement, and update the docs

66de06b

rwiltz reviewed Sep 8, 2025

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yami007007 added 5 commits September 11, 2025 00:49

Rebase on 3150-G1 with 3-finger control

1c34988

Teleop support for Unitree G1 with Inspire 5-finger hand (PickPlace t…

22d7e8f

…ask example)

OFix bug and add ReadMe for teleop support of Unitree G1 with Inspire…

0e2a4a5

… 5-finger hand

Rebase to main branch, delete the if statement, and update the docs

f199fa8

Rebase on 3150, now with the new pink_ik, the PD is not accurate as b…

e38bebc

…efore

yami007007 requested review from Toni-SM and hhansen-bdai as code owners September 10, 2025 17:58

Fix a typo and update the format

504c093

kellyguo11 changed the base branch from main to release/2.3.0 September 10, 2025 18:48

rwiltz reviewed Sep 10, 2025

View reviewed changes

Rename the retargeter to keep the same code style for 3-finger and 5-…

1bf9ef2

…finger hand

rwiltz reviewed Sep 10, 2025

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rwiltz approved these changes Sep 10, 2025

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kellyguo11 reviewed Sep 11, 2025

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Comment thread ...lab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py Outdated

Comment thread ...lab_tasks/manager_based/manipulation/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py Outdated

kellyguo11 added 2 commits September 10, 2025 17:22

Update source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulatio…

6517c70

…n/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py Signed-off-by: Kelly Guo <kellyg@nvidia.com>

Update source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulatio…

5149b1c

…n/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py Signed-off-by: Kelly Guo <kellyg@nvidia.com>

kellyguo11 merged commit fff9bbf into isaac-sim:release/2.3.0 Sep 11, 2025
3 of 4 checks passed

yami007007 mentioned this pull request Sep 11, 2025

Fixes teleop G1 with Inspire hand issues #3440

Merged

7 tasks

yami007007 mentioned this pull request Sep 17, 2025

Adds the Isaac-PickPlace-G1-InspireFTP-Abs-v0 Task into Envs Docs #3479

Merged

7 tasks

		hand_joint_names: list[str] \| None = None # List of robot hand joint names


		class UnitreeG1Retargeter(RetargeterBase):

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Test Steps

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yami007007 commented Aug 21, 2025 •

edited

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yami007007 Sep 1, 2025 •

edited

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