├── .gitignore ├── LICENSE ├── README.md ├── asset ├── franka_description │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── meshes │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── package.xml │ └── rosdoc.yaml └── panda_arm_hand_cam.urdf ├── environment.yaml ├── kalm ├── __init__.py ├── configs │ ├── __init__.py │ ├── local_config_template.py │ ├── model_config.py │ └── path_config.py ├── dataset.py ├── keypoint_predictor.py ├── models.py ├── net_utils.py ├── pybullet_utils.py ├── robot_utils.py ├── rotation_utils.py ├── trainer.py ├── utils.py └── vlm_client.py ├── keypoint_files ├── 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