├── .gitignore ├── .pre-commit-config.yaml ├── .vscode └── extensions.json ├── LICENSE ├── README.md ├── assets ├── meshes │ ├── fourier_hand_12dof │ │ ├── L_hand_base_link.STL │ │ ├── L_index_intermediate_link.STL │ │ ├── L_index_metacarpal_link.STL │ │ ├── L_index_proximal_link.STL │ │ ├── L_middle_intermediate_link.STL │ │ ├── L_middle_proximal_link.STL │ │ ├── L_pinky_intermediate_link.STL │ │ ├── L_pinky_proximal_link.STL │ │ ├── L_ring_intermediate_link.STL │ │ ├── L_ring_proximal_link.STL │ │ ├── L_thumb_distal_link.STL │ │ ├── L_thumb_proximal_pitch_link.STL │ │ ├── L_thumb_proximal_yaw_link.STL │ │ ├── R_hand_base_link.STL │ │ ├── R_index_intermediate_link.STL │ │ ├── R_index_metacarpal_link.STL │ │ ├── R_index_proximal_link.STL │ │ ├── R_middle_intermediate_link.STL │ │ ├── R_middle_proximal_link.STL │ │ ├── R_pinky_intermediate_link.STL │ │ ├── R_pinky_proximal_link.STL │ │ ├── R_ring_intermediate_link.STL │ │ ├── R_ring_proximal_link.STL │ │ ├── R_thumb_distal_link.STL │ │ ├── R_thumb_proximal_pitch_link.STL │ │ └── R_thumb_proximal_yaw_link.STL │ ├── fourier_hand_12dof_v2 │ │ ├── L_hand_base_link.STL │ │ ├── L_index_intermediate_link.STL │ │ ├── L_index_metacarpal_link.STL │ │ ├── L_index_proximal_link.STL │ │ ├── L_middle_intermediate_link.STL │ │ ├── L_middle_proximal_link.STL │ │ ├── L_pinky_intermediate_link.STL │ │ ├── L_pinky_proximal_link.STL │ │ ├── L_ring_intermediate_link.STL │ │ ├── L_ring_proximal_link.STL │ │ ├── L_thumb_distal_link.STL │ │ ├── L_thumb_proximal_pitch_link.STL │ │ ├── L_thumb_proximal_yaw_link.STL │ │ ├── R_hand_base_link.STL │ │ ├── R_index_intermediate_link.STL │ │ ├── R_index_metacarpal_link.STL │ │ ├── R_index_proximal_link.STL │ │ ├── R_middle_intermediate_link.STL │ │ ├── R_middle_proximal_link.STL │ │ ├── R_pinky_intermediate_link.STL │ │ ├── R_pinky_proximal_link.STL │ │ ├── R_ring_intermediate_link.STL │ │ ├── R_ring_proximal_link.STL │ │ ├── R_thumb_distal_link.STL │ │ ├── R_thumb_proximal_pitch_link.STL │ │ └── R_thumb_proximal_yaw_link.STL │ ├── fourier_hand_6dof │ │ ├── L_hand_base_link.STL │ │ ├── L_index_intermediate_link.STL │ │ ├── L_index_proximal_link.STL │ │ ├── L_middle_intermediate_link.STL │ │ ├── L_middle_proximal_link.STL │ │ ├── L_pinky_intermediate_link.STL │ │ ├── L_pinky_proximal_link.STL │ │ ├── L_ring_intermediate_link.STL │ │ ├── L_ring_proximal_link.STL │ │ ├── L_thumb_distal_link.STL │ │ ├── L_thumb_proximal_pitch_link.STL │ │ ├── L_thumb_proximal_yaw_link.STL │ │ ├── R_hand_base_link.STL │ │ ├── R_index_intermediate_link.STL │ │ ├── R_index_proximal_link.STL │ │ ├── R_middle_intermediate_link.STL │ │ ├── R_middle_proximal_link.STL │ │ ├── R_pinky_intermediate_link.STL │ │ ├── R_pinky_proximal_link.STL │ │ ├── R_ring_intermediate_link.STL │ │ ├── R_ring_proximal_link.STL │ │ ├── R_thumb_distal_link.STL │ │ ├── R_thumb_proximal_pitch_link.STL │ │ └── R_thumb_proximal_yaw_link.STL │ ├── gr1t1 │ │ ├── IMU_link.STL │ │ ├── base_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_roll_link.STL │ │ ├── head_yaw_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ ├── waist_pitch_link.STL │ │ ├── waist_roll_link.STL │ │ └── waist_yaw_link.STL │ ├── gr1t2 │ │ ├── base_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_roll_link.STL │ │ ├── head_yaw_link.STL │ │ ├── imu_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ ├── waist_pitch_link.STL │ │ ├── waist_roll_link.STL │ │ └── waist_yaw_link.STL │ ├── gr2t2 │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_yaw_link.STL │ │ ├── imu_link.STL │ │ ├── left_end_effector_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_end_effector_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ └── waist_yaw_link.STL │ ├── gr2t2v2 │ │ ├── base_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_yaw_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_end_effector_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ └── waist_yaw_link.STL │ ├── gr2t2v2_long │ │ ├── base_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_yaw_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_end_effector_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ └── waist_yaw_link.STL │ ├── inspire_hand │ │ ├── Link11_l.STL │ │ ├── Link11_r.STL │ │ ├── Link12_l.STL │ │ ├── Link12_r.STL │ │ ├── Link13_l.STL │ │ ├── Link13_r.STL │ │ ├── Link14_l.STL │ │ ├── Link14_r.STL │ │ ├── Link15_l.STL │ │ ├── Link15_r.STL │ │ ├── Link16_l.STL │ │ ├── Link16_r.STL │ │ ├── Link17_l.STL │ │ ├── Link17_r.STL │ │ ├── Link18_l.STL │ │ ├── Link18_r.STL │ │ ├── Link19_l.STL │ │ ├── Link19_r.STL │ │ ├── Link20_l.STL │ │ ├── Link20_r.STL │ │ ├── Link21_l.STL │ │ ├── Link21_r.STL │ │ ├── Link22_l.STL │ │ ├── Link22_r.STL │ │ ├── base_link_l.STL │ │ └── base_link_r.STL │ └── qinglong │ │ ├── Link_ankel_l_pitch.STL │ │ ├── Link_ankel_l_roll.STL │ │ ├── Link_ankel_r_pitch.STL │ │ ├── Link_ankel_r_roll.STL │ │ ├── Link_arm_l_01.STL │ │ ├── Link_arm_l_02.STL │ │ ├── Link_arm_l_03.STL │ │ ├── Link_arm_l_04.STL │ │ ├── Link_arm_l_05.STL │ │ ├── Link_arm_l_06.STL │ │ ├── Link_arm_l_07.STL │ │ ├── Link_arm_r_01.STL │ │ ├── Link_arm_r_02.STL │ │ ├── Link_arm_r_03.STL │ │ ├── Link_arm_r_04.STL │ │ ├── Link_arm_r_05.STL │ │ ├── Link_arm_r_06.STL │ │ ├── Link_arm_r_07.STL │ │ ├── Link_head_pitch.STL │ │ ├── Link_head_yaw.STL │ │ ├── Link_hip_l_pitch.STL │ │ ├── Link_hip_l_yaw.STL │ │ ├── Link_hip_r_pitch.STL │ │ ├── Link_hip_r_roll.STL │ │ ├── Link_hip_r_yaw.STL │ │ ├── Link_hipl_l_roll.STL │ │ ├── Link_knee_l_pitch.STL │ │ ├── Link_knee_r_pitch.STL │ │ ├── Link_waist_pitch.STL │ │ ├── Link_waist_roll.STL │ │ ├── Link_waist_yaw.STL │ │ ├── left_camera_frame_link.STL │ │ ├── left_end_effector_link.STL │ │ ├── link_base.STL │ │ ├── right_camera_frame_link.STL │ │ └── right_end_effecotr_link.STL ├── udev │ └── 99-gr2-cam.rules └── urdf │ ├── GR1T1_fourier_hand_12dof.urdf │ ├── GR1T1_fourier_hand_12dof_v2.urdf │ ├── GR1T1_fourier_hand_6dof.urdf │ ├── GR1T1_inspire_hand.urdf │ ├── GR1T2_fourier_hand_12dof.urdf │ ├── GR1T2_fourier_hand_6dof.urdf │ ├── GR1T2_inspire_hand.urdf │ ├── GR2T2_fourier_hand_12dof.urdf │ ├── GR2T2_fourier_hand_6dof.urdf │ ├── GR2T2v2_fourier_hand_12dof.urdf │ ├── GR2T2v2_fourier_hand_6dof.urdf │ ├── fourier_left_hand_12dof.urdf │ ├── fourier_left_hand_6dof.urdf │ ├── fourier_right_hand_12dof.urdf │ ├── fourier_right_hand_6dof.urdf │ ├── gr2t2v2_long.urdf │ ├── inspire_left_hand.urdf │ ├── inspire_right_hand.urdf │ └── qinglong_fourier_hand_6dof.urdf ├── certs └── .gitkeep ├── configs ├── camera │ ├── oak.yaml │ ├── oak_97.yaml │ ├── oak_97_high_res.yaml │ ├── oak_97_legacy.yaml │ ├── oak_97_multi.yaml │ ├── opencv.yaml │ ├── realsense.yaml │ ├── realsense_multi.yaml │ └── zed.yaml ├── daq.yaml ├── daq_gr1_zed.yaml ├── eval_idp3.yaml ├── eval_lerobot.yaml ├── eval_n1.yaml ├── eval_pi0.yaml ├── hand │ ├── fourier.yaml │ ├── fourier_12dof.yaml │ ├── fourier_12dof_dexpilot.yaml │ ├── fourier_dexpilot.yaml │ ├── fourier_dexpilot_dhx.yaml │ ├── fourier_dhx.yaml │ ├── inspire.yaml │ └── inspire_dexpilot.yaml ├── policy │ ├── act.yaml │ ├── diffusion.yaml │ ├── gr00t.yaml │ ├── idp3.yaml │ └── scale_dp.yaml ├── robot │ ├── gr1t1.yaml │ ├── gr1t1_legacy.yaml │ ├── gr1t1_legacy_inspire.yaml │ ├── gr1t2.yaml │ ├── gr1t2_legacy.yaml │ ├── gr1t2_legacy_inspire.yaml │ ├── gr2.yaml │ ├── gr2_hardware.yaml │ └── qinglong.yaml ├── teleop.yaml ├── teleop_gr1.yaml ├── teleop_gr1_12dof.yaml ├── teleop_gr1_zed.yaml ├── teleop_gr2_12dof.yaml └── teleop_qinglong.yaml ├── data └── .gitkeep ├── docker ├── dds_bridge.Dockerfile ├── dds_bridge_20_04.Dockerfile ├── depthai.Dockerfile ├── depthai_dependencies.sh ├── depthai_deploy.Dockerfile ├── depthai_deploy_dds.Dockerfile ├── depthai_deploy_dds_20_04.Dockerfile ├── depthai_deploy_dds_hardware.Dockerfile ├── depthai_deploy_dds_uv.Dockerfile ├── opencv_deploy.Dockerfile ├── pyrealsense.Dockerfile ├── realsense.Dockerfile ├── realsense │ ├── 99-realsense-libusb.rules │ └── apply_udev.sh ├── rs.Dockerfile ├── run.sh ├── teleoperation-depthai.Dockerfile └── teleoperation-realsense.Dockerfile ├── docs └── zed_installation.md ├── figure ├── Pin1.jpg ├── Pin2.jpg ├── Pre1.jpg ├── Pre2.jpg ├── gif │ └── VPcommmand.gif ├── interface.jpg ├── teleop.jpg └── video │ └── Vp.mp4 ├── pdm.lock ├── pdm.toml ├── pyproject.toml ├── scripts ├── data_collection.sh ├── deploy.sh ├── dev_dds.sh ├── grx_calibration.sh ├── multi_cam_test.py ├── reset_hand.py ├── run_daq_docker.sh ├── run_grx.sh ├── run_lerobot.sh ├── run_n1.sh └── visualize_dataset.py ├── server_config ├── dds │ ├── config.gr1t1.json │ ├── config.gr1t2.json │ ├── config.gr2.json │ ├── encoders_state.template.yaml │ └── motor_gains.template.yaml ├── fourier_hardware │ ├── gr1t1 │ │ ├── robot.urdf │ │ └── robot_config │ │ │ ├── display.rviz │ │ │ ├── dynamic_identification_config.json │ │ │ ├── exciting_trajectory.json │ │ │ ├── hardware.json │ │ │ ├── hardware_dds_config.json │ │ │ ├── identification_result.json │ │ │ └── impedance_pd_config.json │ ├── gr1t2 │ │ ├── robot.urdf │ │ └── robot_config │ │ │ ├── hardware.json │ │ │ └── hardware_dds_config.json │ ├── gr1t2_fourier_hand_6dof │ │ ├── robot.urdf │ │ └── robot_config │ │ │ ├── hardware.json │ │ │ └── hardware_dds_config.json │ ├── gr2t2 │ │ ├── robot.urdf │ │ └── robot_config │ │ │ ├── hardware.json │ │ │ └── hardware_dds_config.json │ ├── grmini_t1 │ │ ├── readme.md │ │ ├── robot.urdf │ │ ├── robot_config │ │ │ ├── display.rviz │ │ │ └── hardware.json │ │ ├── robot_mjx.xml │ │ ├── scene_mjx_feetonly_flat_terrain.xml │ │ └── scene_mjx_feetonly_rough_terrain.xml │ └── intro.md ├── gr1t1.yaml ├── gr1t2.yaml ├── gr2t2.yaml └── run_server.sh ├── src └── teleoperation │ ├── __init__.py │ ├── __main__.py │ ├── adapter │ ├── __init__.py │ ├── hands │ │ ├── __init__.py │ │ ├── fourier.py │ │ ├── fourier_dhx.py │ │ └── inspire_dhx.py │ └── robots │ │ ├── __init__.py │ │ ├── grx.py │ │ ├── grx_dds.py │ │ └── hardware.py │ ├── camera │ ├── __init__.py │ ├── camera_multi.py │ ├── camera_multi_oak.py │ ├── camera_oak.py │ ├── camera_oak_pipeline.py │ ├── camera_opencv.py │ ├── camera_realsense.py │ ├── camera_zed.py │ ├── oak_utils.py │ └── utils.py │ ├── constants.py │ ├── data_collection.py │ ├── deploy.py │ ├── eval.py │ ├── filters.py │ ├── main.py │ ├── playback.py │ ├── player.py │ ├── policy │ ├── __init__.py │ ├── gr00t.py │ └── lerobot.py │ ├── preprocess.py │ ├── retarget │ ├── hand.py │ ├── robot.py │ └── robot_wrapper.py │ ├── service │ ├── __init__.py │ ├── gr00t.py │ └── service.py │ ├── state_machine.py │ ├── television.py │ ├── upsampler.py 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