├── .gitattributes ├── .github └── workflows │ └── python-publish.yml ├── .gitignore ├── LICENSE ├── README.md ├── doc ├── GenesisImageFrameTypes.png ├── GenesisQpos.png ├── GenesisVideoFrameTypes.png ├── GradioTabPlots.png ├── LeaderArm.jpg ├── ModalContainerMetrics.png ├── RealMiddle.png ├── RealRest.png ├── RealRotated.png ├── RealZero.png ├── RigidBodySolver.drawio.png ├── SimMiddle.png ├── SimRest.png ├── SimRotated.png ├── SimZero.png ├── TeleopRerun.io.png ├── acknowledgements.md ├── calibration_validation.md ├── examples.md ├── gradio_apps.md ├── installation.md ├── policies.md ├── real2sim.md ├── real_pick_place_frames.png ├── sim_pick_place_frames.png └── teleoperate.md ├── docker ├── Dockerfile.huggingface_space ├── Dockerfile.local ├── debian.sources ├── merge_headers.sh ├── packages.huggingface_space.txt ├── packages.local.txt └── requirements.txt ├── notebooks └── so100_ball_cup2.ipynb ├── pyproject.toml ├── scripts ├── policy │ ├── gr00t │ │ ├── eval_gr00t_so100.py │ │ └── inference_server.py │ └── lerobot │ │ ├── eval_policy.py │ │ └── train_policy.py ├── real.py ├── sim │ ├── fit_trajectory.py │ ├── generate_sim_dataset.py │ ├── modal_fit_trajectory.py │ ├── modal_replay_episodes.py │ └── replay_episodes.py ├── sim_fps.py ├── sim_gradio_dashboard.py ├── sim_gradio_image.py ├── sim_gradio_qpos.py ├── sim_gradio_video.py ├── sim_to_real.py ├── sim_to_real_client.py ├── teleop │ ├── gradio_control_app.py │ └── teleoperate.py └── validation │ ├── 0_validate_sim_qpos.py │ ├── 1_calibrate_motor_pos.py │ ├── 2_validate_sim_pos.py │ ├── 3_validate_real_pos.py │ ├── 4_validate_real_to_sim.py │ └── 5_validate_sim_to_real.py ├── src └── slobot │ ├── config │ ├── __init__.py │ └── assets │ │ └── cup.stl │ ├── configuration.py │ ├── feetech.py │ ├── feetech_frame.py │ ├── fps_gauge.py │ ├── fps_metric.py │ ├── genesis.py │ ├── gradio_dashboard_app.py │ ├── gradio_image_app.py │ ├── gradio_qpos_app.py │ ├── gradio_video_app.py │ ├── image_streams.py │ ├── lerobot │ ├── episode_loader.py │ ├── episode_replayer.py │ ├── policy_evaluator.py │ ├── pytorch_optimizer.py │ └── sim_dataset_generator.py │ ├── metrics │ └── metrics.py │ ├── rigid_body │ ├── configuration.py │ ├── numpy_solver.py │ ├── pytorch_solver.py │ ├── scip_solver.py │ ├── state.py │ └── taichi_solver.py │ ├── sim_client.py │ ├── simulation_frame.py │ ├── simulation_frame_paths.py │ ├── so_arm_100.py │ ├── teleop │ ├── gradio_control_app.py │ └── teleoperator.py │ ├── video_streams.py │ └── video_writer.py └── tests ├── __init__.py ├── steps.csv ├── test_numpy_solver.py ├── test_pytorch_solver.py ├── test_scip_solver.py └── test_taichi_solver.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alexis779/slobot/HEAD/.gitattributes -------------------------------------------------------------------------------- /.github/workflows/python-publish.yml: 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