├── .gitignore ├── Dockerfile ├── LICENSE ├── README.md ├── docker ├── Dockerfile.pc ├── Makefile ├── bashrc └── cyclonedds.xml ├── imitation ├── README.md ├── common │ ├── __init__.py │ ├── config.py │ ├── dataset.py │ ├── diffusion_policy.py │ ├── inference.py │ ├── normalize.py │ └── utils.py ├── compute_stats ├── data │ ├── real_env_data.parquet │ └── sim_env_data.parquet ├── pick_screwdriver ├── ros2_numpy_tf.py └── train_script ├── media ├── move_object.gif ├── object_picking.png ├── object_picking_random_move.gif ├── object_picking_sim.gif ├── pick_object.gif ├── robo_imitate.png ├── rviz.gif └── training_and_evaluation.png ├── robo_imitate.repos └── xarm_bringup ├── CMakeLists.txt ├── README.md ├── isaac ├── .thumbs │ └── 256x256 │ │ ├── imitation.usda.png │ │ ├── lite6.usd.png │ │ ├── lite6.usda.png │ │ ├── mug_flipping.usda.png │ │ └── object_picking.usda.png ├── README.md ├── banch_clumb.usd ├── emergency_button.usd ├── imitation.usda ├── lite6.usd ├── lite6.usda ├── 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