├── .dockerignore ├── .github └── workflows │ ├── announce-merged-pr.yaml │ ├── code-style.yaml │ ├── commit-signature.yaml │ ├── docker-publish.yaml │ ├── release.yaml │ └── unit-test.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .style.yapf ├── AGENTS.md ├── CHANGELOG.md ├── CLAUDE.md ├── CONTRIBUTING.md ├── LICENSE ├── MANIFEST.in ├── NOTICE ├── README.md ├── docker ├── Dockerfile ├── Dockerfile.base ├── Dockerfile.training ├── Dockerfile.training.cloud ├── Makefile ├── README.md ├── build.sh ├── run-rt.sh └── run.sh ├── pimm ├── README.md ├── __init__.py ├── core.py ├── shared_memory.py ├── tests │ ├── __init__.py │ ├── test_shared_memory.py │ ├── test_utils.py │ ├── test_world.py │ └── testing.py ├── utils.py └── world.py ├── positronic ├── __init__.py ├── assets │ ├── docs │ │ ├── dc_gui.png │ │ └── server_screenshot.png │ ├── mujoco │ │ ├── LICENSE │ │ ├── README.md │ │ ├── assets │ │ │ ├── finger_0.obj │ │ │ ├── finger_1.obj │ │ │ ├── hand.stl │ │ │ ├── hand_0.obj │ │ │ ├── hand_1.obj │ │ │ ├── hand_2.obj │ │ │ ├── hand_3.obj │ │ │ ├── hand_4.obj │ │ │ ├── link0.stl │ │ │ ├── link0_0.obj │ │ │ ├── link0_1.obj │ │ │ ├── link0_10.obj │ │ │ ├── link0_11.obj │ │ │ ├── link0_2.obj │ │ │ ├── link0_3.obj │ │ │ ├── link0_4.obj │ │ │ ├── link0_5.obj │ │ │ ├── link0_7.obj │ │ │ ├── link0_8.obj │ │ │ ├── link0_9.obj │ │ │ ├── link1.obj │ │ │ ├── link1.stl │ │ │ ├── link2.obj │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link3_0.obj │ │ │ ├── link3_1.obj │ │ │ ├── link3_2.obj │ │ │ ├── link3_3.obj │ │ │ ├── link4.stl │ │ │ ├── link4_0.obj │ │ │ ├── link4_1.obj │ │ │ ├── link4_2.obj │ │ │ ├── link4_3.obj │ │ │ ├── link5_0.obj │ │ │ ├── link5_1.obj │ │ │ ├── link5_2.obj │ │ │ ├── link5_collision_0.obj │ │ │ ├── link5_collision_1.obj │ │ │ ├── link5_collision_2.obj │ │ │ ├── link6.stl │ │ │ ├── link6_0.obj │ │ │ ├── link6_1.obj │ │ │ ├── link6_10.obj │ │ │ ├── link6_11.obj │ │ │ ├── link6_12.obj │ │ │ ├── link6_13.obj │ │ │ ├── link6_14.obj │ │ │ ├── link6_15.obj │ │ │ ├── link6_16.obj │ │ │ ├── link6_2.obj │ │ │ ├── link6_3.obj │ │ │ ├── link6_4.obj │ │ │ ├── link6_5.obj │ │ │ ├── link6_6.obj │ │ │ ├── link6_7.obj │ │ │ ├── link6_8.obj │ │ │ ├── link6_9.obj │ │ │ ├── link7.stl │ │ │ ├── link7_0.obj │ │ │ ├── link7_1.obj │ │ │ ├── link7_2.obj │ │ │ ├── link7_3.obj │ │ │ ├── link7_4.obj │ │ │ ├── link7_5.obj │ │ │ ├── link7_6.obj │ │ │ └── link7_7.obj │ │ ├── franka_table.assets.pkl │ │ ├── franka_table.xml │ │ ├── hand.xml │ │ ├── mjx_panda.xml │ │ ├── mjx_scene.xml │ │ ├── mjx_single_cube.xml │ │ ├── panda.png │ │ ├── panda.xml │ │ ├── panda_nohand.xml │ │ └── scene.xml │ ├── sounds │ │ ├── recording-has-been-aborted.wav │ │ ├── recording-has-started.wav │ │ └── recording-has-stopped.wav │ ├── webxr │ │ ├── core.js │ │ ├── index.html │ │ ├── three.min.js │ │ ├── video-player.js │ │ └── webxr-button.js │ └── webxr_iphone │ │ └── index.html ├── cfg │ ├── __init__.py │ ├── dataset.py │ ├── hardware │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── gripper.py │ │ ├── motors.py │ │ └── roboarm │ │ │ ├── __init__.py │ │ │ └── motors.py │ ├── policy │ │ ├── __init__.py │ │ ├── action.py │ │ ├── observation.py │ │ └── policy.py │ ├── simulator.py │ ├── sound.py │ └── webxr.py ├── data_collection.py ├── dataset │ ├── README.md │ ├── __init__.py │ ├── dataset.py │ ├── ds_player_agent.py │ ├── ds_writer_agent.py │ ├── episode.py │ ├── local_dataset.py │ ├── signal.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_ds_player_agent.py │ │ ├── test_ds_writer_agent.py │ │ ├── test_episode.py │ │ ├── test_local_dataset.py │ │ ├── test_signal.py │ │ ├── test_video.py │ │ └── utils.py │ ├── transforms │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── episode.py │ │ ├── image.py │ │ ├── signals.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_dataset.py │ │ │ ├── test_episode.py │ │ │ ├── test_image.py │ │ │ └── test_signals.py │ ├── vector.py │ └── video.py ├── drivers │ ├── __init__.py │ ├── camera │ │ ├── __init__.py │ │ ├── linux_video.py │ │ ├── luxonis.py │ │ ├── opencv.py │ │ └── zed.py │ ├── gripper │ │ ├── __init__.py │ │ ├── dh.py │ │ └── robotiq.py │ ├── motors │ │ ├── __init__.py │ │ ├── feetech.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ └── calibrate_feetech.py │ ├── roboarm │ │ ├── __init__.py │ │ ├── command.py │ │ ├── franka.py │ │ ├── generate_mujoco.py │ │ ├── generate_urdf.py │ │ ├── kinematics.py │ │ ├── kinematics_debug.py │ │ ├── kinova │ │ │ ├── __init__.py │ │ │ ├── api.py │ │ │ ├── base.py │ │ │ ├── driver.py │ │ │ ├── gen3.xml │ │ │ ├── gen3 │ │ │ │ ├── base_link.stl │ │ │ │ ├── bracelet_no_vision_link.stl │ │ │ │ ├── bracelet_with_vision_link.stl │ │ │ │ ├── forearm_link.stl │ │ │ │ ├── half_arm_1_link.stl │ │ │ │ ├── half_arm_2_link.stl │ │ │ │ ├── shoulder_link.stl │ │ │ │ ├── spherical_wrist_1_link.stl │ │ │ │ └── spherical_wrist_2_link.stl │ │ │ └── model.urdf │ │ └── so101 │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ ├── base_motor_holder_so101_v1.part │ │ │ ├── base_motor_holder_so101_v1.stl │ │ │ ├── base_so101_v2.part │ │ │ ├── base_so101_v2.stl │ │ │ ├── motor_holder_so101_base_v1.part │ │ │ ├── motor_holder_so101_base_v1.stl │ │ │ ├── motor_holder_so101_wrist_v1.part │ │ │ ├── motor_holder_so101_wrist_v1.stl │ │ │ ├── moving_jaw_so101_v1.part │ │ │ ├── moving_jaw_so101_v1.stl │ │ │ ├── rotation_pitch_so101_v1.part │ │ │ ├── rotation_pitch_so101_v1.stl │ │ │ ├── sts3215_03a_no_horn_v1.part │ │ │ ├── sts3215_03a_no_horn_v1.stl │ │ │ ├── sts3215_03a_v1.part │ │ │ ├── sts3215_03a_v1.stl │ │ │ ├── under_arm_so101_v1.part │ │ │ ├── under_arm_so101_v1.stl │ │ │ ├── upper_arm_so101_v1.part │ │ │ ├── upper_arm_so101_v1.stl │ │ │ ├── waveshare_mounting_plate_so101_v2.part │ │ │ ├── waveshare_mounting_plate_so101_v2.stl │ │ │ ├── wrist_roll_follower_so101_v1.part │ │ │ ├── wrist_roll_follower_so101_v1.stl │ │ │ ├── wrist_roll_pitch_so101_v2.part │ │ │ └── wrist_roll_pitch_so101_v2.stl │ │ │ ├── driver.py │ │ │ ├── so101.urdf │ │ │ └── so101.xml │ ├── sound.py │ └── webxr.py ├── geom │ ├── __init__.py │ ├── tests │ │ ├── __init__.py │ │ ├── test_geom.py │ │ └── test_trajectory.py │ └── trajectory.py ├── gui │ ├── __init__.py │ ├── dpg.py │ ├── eval.py │ └── keyboard.py ├── inference.py ├── policy │ ├── __init__.py │ ├── action.py │ ├── gr00t.py │ ├── inference.py │ ├── lerobot.py │ ├── observation.py │ ├── pi0.py │ └── tests │ │ ├── test_inference.py │ │ └── test_policy_io.py ├── replay_record.py ├── robot_controller.py ├── server │ ├── __init__.py │ ├── dataset_utils.py │ ├── positronic_server.py │ ├── static │ │ ├── app.js │ │ ├── rerun │ │ │ ├── 0.22.1 │ │ │ │ ├── favicon.ico │ │ │ │ ├── favicon.svg │ │ │ │ ├── index.html │ │ │ │ ├── re_viewer.js │ │ │ │ └── re_viewer_bg.wasm │ │ │ ├── LICENSE-APACHE │ │ │ ├── LICENSE-MIT │ │ │ └── README.txt │ │ └── styles.css │ └── templates │ │ ├── base.html │ │ ├── episode.html │ │ └── index.html ├── simulator │ └── mujoco │ │ ├── observers.py │ │ ├── scene_builder.py │ │ ├── sim.py │ │ 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