Run ForceSight on real robot bugs

[Gagouking]

I managed to run forcesight on a remote computer, and it reported this error:
(forcesight) xbt@xbt:~/forcesight$ python -m robot.visual_servo --config forcesight --index 0 --epoch best --prompt "pick up the keys" --ip 192.168.0.117 --use_ft 0
Unknown attribute "spring_reference" in /robot[@name='stretch_description']/joint[@name='joint_right_wheel']/dynamics
Unknown attribute "spring_stiffness" in /robot[@name='stretch_description']/joint[@name='joint_right_wheel']/dynamics
Unknown attribute "spring_reference" in /robot[@name='stretch_description']/joint[@name='joint_left_wheel']/dynamics
Unknown attribute "spring_stiffness" in /robot[@name='stretch_description']/joint[@name='joint_left_wheel']/dynamics
Unknown tag "surface" in /robot[@name='stretch_description']/link[@name='caster_link']/collision[1]
/home/xbt/miniconda3/envs/forcesight/lib/python3.10/site-packages/timm/models/layers/init.py:48: FutureWarning: Importing from timm.models.layers is deprecated, please import via timm.layers
warnings.warn(f"Importing from {name} is deprecated, please import via timm.layers", FutureWarning)
selecting device: None
Traceback (most recent call last):
File "/home/xbt/miniconda3/envs/forcesight/lib/python3.10/runpy.py", line 196, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/home/xbt/miniconda3/envs/forcesight/lib/python3.10/runpy.py", line 86, in _run_code
exec(code, run_globals)
File "/home/xbt/forcesight/robot/visual_servo.py", line 322, in
vs = VisualServo()
File "/home/xbt/forcesight/robot/visual_servo.py", line 96, in init
super().init()
File "/home/xbt/forcesight/prediction/live_model.py", line 40, in init
self.realsense = RealSense(
File "/home/xbt/forcesight/utils/realsense_utils.py", line 219, in init
cfg = self.pipeline.start(self.config)
RuntimeError: No device connected
Exception ignored in: <function RealSense.del at 0x74225db6b760>
Traceback (most recent call last):
File "/home/xbt/forcesight/utils/realsense_utils.py", line 312, in del
self.pipeline.stop()
RuntimeError: stop() cannot be called before start()

the realsense camera should be on the robot right? do I have to install all the forcesight software on the robot?