├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── manimo ├── __init__.py ├── actuators │ ├── arms │ │ ├── __init__.py │ │ ├── arm.py │ │ ├── franka_arm.py │ │ ├── robot_ik.zip │ │ └── robot_ik │ │ │ ├── .DS_Store │ │ │ ├── __init__.py │ │ │ ├── arm.py │ │ │ ├── franka │ │ │ ├── .DS_Store │ │ │ ├── franka_arm.xml │ │ │ ├── mesh │ │ │ │ ├── base.stl │ │ │ │ ├── base_mount.stl │ │ │ │ ├── coupler.stl │ │ │ │ ├── driver.stl │ │ │ │ ├── finger.obj │ │ │ │ ├── follower.stl │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.obj │ │ │ │ ├── link7.obj │ │ │ │ ├── pad.stl │ │ │ │ ├── silicone_pad.stl │ │ │ │ └── spring_link.stl │ │ │ ├── robotiq_2f85 │ │ │ │ ├── 2f85.png │ │ │ │ ├── 2f85.xml │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── assets │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── base_mount.stl │ │ │ │ │ ├── coupler.stl │ │ │ │ │ ├── driver.stl │ │ │ │ │ ├── follower.stl │ │ │ │ │ ├── pad.stl │ │ │ │ │ ├── silicone_pad.stl │ │ │ │ │ └── spring_link.stl │ │ │ │ └── scene.xml │ │ │ └── texture │ │ │ │ └── panda.png │ │ │ └── robot_ik_solver.py │ ├── controllers │ │ ├── __init__.py │ │ └── policies.py │ └── grippers │ │ ├── __init__.py │ │ ├── gripper.py │ │ └── polymetis_gripper.py ├── conf │ ├── actuators.yaml │ ├── actuators_gripper.yaml │ ├── actuators_playback.yaml │ ├── actuators_record.yaml │ ├── arm │ │ ├── franka_arm.yaml │ │ ├── franka_arm_contact.yaml │ │ └── gains │ │ │ ├── franka_default_gains.yaml │ │ │ └── franka_record_gains.yaml │ ├── audio │ │ └── contact_mic.yaml │ ├── camera │ │ ├── multi_real_sense.yaml │ │ ├── multi_zed.yaml │ │ ├── real_sense.yaml │ │ └── zed.yaml │ ├── env.yaml │ ├── gripper │ │ └── polymetis_gripper.yaml │ ├── manimo.yaml │ ├── sensors.yaml │ └── tactile │ │ └── reskin.yaml ├── environments │ ├── __init__.py │ └── single_arm_env.py ├── misc │ └── isaac │ │ └── se3_oculus.py ├── scripts │ ├── README.md │ ├── combine_all_trajs.py │ ├── dagger_loop.py │ ├── eval_loop.py │ ├── get_current_position.py │ ├── get_obs_videos.py │ ├── list_cameras.py │ ├── manimo_loop.py │ ├── manimo_loop_backup.py │ ├── teleop_loop.py │ ├── test_contact_mic.py │ ├── test_gripper.py │ └── test_oculus.py ├── sensors │ ├── __init__.py │ ├── contact_mic.py │ ├── real_sense_camera.py │ ├── reskin_tactile.py │ ├── sensor.py │ └── zed_camera.py ├── teleoperation │ ├── __init__.py │ ├── collect_teleop_demos.py │ ├── conf │ │ ├── device │ │ │ ├── keyboard.yaml │ │ │ └── oculus.yaml │ │ └── teleop_config.yaml │ ├── control_device │ │ ├── __init__.py │ │ ├── base.py │ │ ├── keyboard.py │ │ └── oculus.py │ ├── outputs │ │ ├── 2022-11-15 │ │ │ ├── 15-55-09 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-08-09 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-10-25 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-11-15 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-11-40 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-14-32 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-16-12 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-17-12 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-18-45 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-19-52 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-39-11 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-42-48 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-47-05 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-49-47 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-54-34 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-54-49 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-55-17 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-57-36 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 16-59-38 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-08-07 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-08-31 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-13-06 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-17-08 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-18-06 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-22-28 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-22-30 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-23-02 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-24-03 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-26-06 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-29-13 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 17-29-27 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ └── 17-31-41 │ │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ ├── 2022-11-28 │ │ │ ├── 10-25-03 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-28-11 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-31-31 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-32-23 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-33-00 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-33-58 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-36-43 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ ├── 10-38-46 │ │ │ │ └── .hydra │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── hydra.yaml │ │ │ │ │ └── overrides.yaml │ │ │ └── 10-38-59 │ │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ └── 2022-12-07 │ │ │ ├── 14-03-55 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 14-33-42 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 14-44-52 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 14-47-35 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 16-48-14 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 17-05-46 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 19-19-01 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ ├── 19-29-31 │ │ │ └── .hydra │ │ │ │ ├── config.yaml │ │ │ │ ├── hydra.yaml │ │ │ │ └── overrides.yaml │ │ │ └── 19-32-06 │ │ │ └── .hydra │ │ │ ├── config.yaml │ │ │ ├── hydra.yaml │ │ │ └── overrides.yaml │ └── teleop_agent.py └── utils │ ├── callbacks.py │ ├── helpers.py │ ├── logger.py │ ├── new_logger.py │ ├── parallel_processing.py │ └── types.py ├── pyproject.toml ├── setup.py ├── setup_manimo_env_client.sh └── setup_manimo_env_server.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AGI-Labs/manimo/HEAD/.gitignore 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