├── .gitignore ├── LICENSE ├── README.md ├── assets └── main_teaser.jpg ├── launch ├── collect_data.py ├── factr_teleop.py ├── factr_teleop_grav_comp_demo.py └── rollout.py └── src ├── bc ├── bc │ ├── __init__.py │ ├── data_record.py │ ├── franka_bridge.py │ ├── policy_rollout.py │ ├── rollout.py │ └── utils.py ├── package.xml ├── resource │ └── bc ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── cameras ├── cameras │ ├── __init__.py │ ├── realsense.py │ └── zed.py ├── package.xml ├── resource │ └── cameras ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── factr_teleop ├── README.md ├── factr_teleop │ ├── __init__.py │ ├── configs │ │ ├── franka_example.yaml │ │ └── grav_comp_demo.yaml │ ├── dynamixel │ │ ├── __init__.py │ │ ├── driver.py │ │ └── python │ │ │ ├── CATKIN_IGNORE │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ ├── setup.py │ │ │ ├── src │ │ │ └── dynamixel_sdk │ │ │ │ ├── __init__.py │ │ │ │ ├── group_bulk_read.py │ │ │ │ ├── group_bulk_write.py │ │ │ │ ├── group_sync_read.py │ │ │ │ ├── group_sync_write.py │ │ │ │ ├── packet_handler.py │ │ │ │ ├── port_handler.py │ │ │ │ ├── protocol1_packet_handler.py │ │ │ │ ├── protocol2_packet_handler.py │ │ │ │ └── robotis_def.py │ │ │ └── tests │ │ │ ├── protocol1_0 │ │ │ ├── bulk_read.py │ │ │ ├── factory_reset.py │ │ │ ├── multi_port.py │ │ │ ├── ping.py │ │ │ ├── read_write.py │ │ │ └── sync_write.py │ │ │ ├── protocol2_0 │ │ │ ├── broadcast_ping.py │ │ │ ├── bulk_read_write.py │ │ │ ├── clear_multi_turn.py │ │ │ ├── factory_reset.py │ │ │ ├── indirect_address.py │ │ │ ├── multi_port.py │ │ │ ├── ping.py │ │ │ ├── read_write.py │ │ │ ├── reboot.py │ │ │ └── sync_read_write.py │ │ │ └── protocol_combined.py │ ├── factr_teleop.py │ ├── factr_teleop_franka_zmq.py │ ├── factr_teleop_grav_comp_demo.py │ └── urdf │ │ ├── factr_teleop_franka.urdf │ │ └── meshes │ │ ├── base_link.STL │ │ ├── link_1.STL │ │ 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