├── .gitignore ├── CLAUDE.md ├── README.md ├── backend ├── CLAUDE.md ├── NGROK_SETUP_GUIDE.md ├── NGROK_WEBSOCKET_README.md ├── app │ └── main.py ├── continuous_executor.py ├── core │ ├── node_base.py │ └── node_registry.py ├── custom_nodes │ ├── README.md │ ├── basic_nodes.py │ ├── lerobot_nodes.py │ ├── so101_nodes.py │ └── xlerobot_nodes.py ├── requirements.txt ├── run_server.py ├── scripts │ ├── relay_server.py │ └── test_relay.py ├── test_ngrok_client.html ├── test_ngrok_http.py ├── test_ngrok_websocket.py ├── tests │ ├── README.md │ ├── run_all_tests.py │ ├── test_frontend_integration.py │ ├── test_node_states.py │ ├── test_robot_node_streaming.py │ ├── test_robot_stream.py │ ├── test_rt_update.py │ ├── test_simple_robot_streaming.py │ ├── test_specific_node.py │ ├── test_summary.py │ └── test_websocket.py ├── user │ └── workflows │ │ ├── dual_teleop.json │ │ ├── keyboard_ee.json │ │ ├── single_teleop.json │ │ └── unlock_robot.json ├── websocket_manager.py └── workflows │ └── teleoperation_through_ngrok.json ├── factory-ui ├── .gitignore ├── CLAUDE.md ├── README.md ├── debug_rt_update.html ├── package-lock.json ├── package.json ├── public │ ├── URDFs │ │ ├── assets │ │ │ ├── base_motor_holder_so101_v1.stl │ │ │ ├── base_so101_v2.stl │ │ │ ├── motor_holder_so101_base_v1.stl │ │ │ ├── motor_holder_so101_wrist_v1.stl │ │ │ ├── moving_jaw_so101_v1.stl │ │ │ ├── rotation_pitch_so101_v1.stl │ │ │ ├── sts3215_03a_no_horn_v1.stl │ │ │ ├── sts3215_03a_v1.stl │ │ │ ├── under_arm_so101_v1.stl │ │ │ ├── upper_arm_so101_v1.stl │ │ │ ├── waveshare_mounting_plate_so101_v2.stl │ │ │ ├── wrist_roll_follower_so101_v1.stl │ │ │ └── wrist_roll_pitch_so101_v2.stl │ │ └── so101.urdf │ ├── favicon.ico │ ├── index.html │ ├── logo192.png │ ├── logo512.png │ ├── manifest.json │ └── robots.txt ├── src │ ├── App.css │ ├── App.test.tsx │ ├── App.tsx │ ├── components │ │ ├── 3d │ │ │ ├── CLAUDE.md │ │ │ └── GroundPlane.tsx │ │ ├── CameraNode.css │ │ ├── CameraNode.tsx │ │ ├── ContextMenu.css │ │ ├── ContextMenu.tsx │ │ ├── CustomNode.css │ │ ├── CustomNode.tsx │ │ ├── LeftPanel.css │ │ ├── LeftPanel.tsx │ │ ├── NodePanel.css │ │ ├── NodePanel.tsx │ │ ├── NoteNode.css │ │ ├── NoteNode.tsx │ │ ├── ThemeToggle.css │ │ ├── ThemeToggle.tsx │ │ ├── ThreeDNode.css │ │ ├── ThreeDNode.tsx │ │ ├── WorkflowExplorer.css │ │ ├── WorkflowExplorer.tsx │ │ └── camera │ │ │ ├── CLAUDE.md │ │ │ ├── CameraInput.tsx │ │ │ ├── CameraManager.ts │ │ │ ├── index.ts │ │ │ └── useOptimizedCameraManager.ts │ ├── contexts │ │ └── ThemeContext.tsx │ ├── index.css │ ├── index.tsx │ ├── logo.svg │ ├── react-app-env.d.ts │ ├── reportWebVitals.ts │ ├── services │ │ ├── api.ts │ │ ├── localFileService.ts │ │ └── websocket.ts │ ├── setupTests.ts │ ├── tests │ │ └── README.md │ └── utils │ │ ├── cameraFrameUtils.ts │ │ ├── nodeUtils.ts │ │ └── typeMatching.ts ├── test_joint_states.html └── tsconfig.json ├── screenshot.png ├── setup.sh └── test_motor_conversion.py /.gitignore: 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