├── .docker ├── README.md ├── laptop │ ├── Dockerfile.laptop │ ├── Dockerfile.laptop_fr3 │ ├── Dockerfile.laptop_panda │ ├── docker-compose-laptop-data-upload.yaml │ ├── docker-compose-laptop.yaml │ └── entrypoint.sh └── nuc │ ├── Dockerfile.nuc │ ├── Dockerfile.nuc_fr3 │ ├── Dockerfile.nuc_panda │ └── docker-compose-nuc.yaml ├── .github └── workflows │ ├── build_container_laptop_fr3.yaml │ ├── build_container_laptop_panda.yaml │ ├── build_container_nuc_fr3.yaml │ ├── build_container_nuc_panda.yaml │ ├── pages.yaml │ └── pre-commit.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── Makefile ├── README.md ├── config ├── fr3 │ ├── franka_hardware.yaml │ └── franka_panda.yaml └── panda │ ├── franka_hardware.yaml │ └── franka_panda.yaml ├── docs ├── Gemfile ├── _config.yml ├── _sass │ └── color_schemes │ │ └── droid.scss ├── assets │ ├── hardware-setup │ │ ├── arm_wire1.jpg │ │ ├── arm_wire10.jpg │ │ ├── arm_wire11.jpg │ │ ├── arm_wire12.jpg │ │ ├── arm_wire13.jpg │ │ ├── arm_wire14.jpg │ │ ├── arm_wire15.jpg │ │ ├── arm_wire16.jpg │ │ ├── arm_wire17.jpg │ │ ├── arm_wire18.jpg │ │ ├── arm_wire2.jpg │ │ ├── arm_wire3.jpg │ │ ├── arm_wire4.jpg │ │ ├── arm_wire5.jpg │ │ ├── arm_wire6.jpg │ │ ├── arm_wire7.jpg │ │ ├── arm_wire8.jpg │ │ ├── arm_wire9.jpg │ │ ├── breadboard_base1.jpg │ │ ├── breadboard_base2.jpg │ │ ├── breadboard_base3.jpg │ │ ├── breadboard_base4.jpg │ │ ├── breadboard_base5.jpg │ │ ├── breadboard_base6.jpg │ │ ├── breadboard_base7.jpg │ │ ├── calibration_board1.jpg │ │ ├── calibration_board2.jpg │ │ ├── calibration_board3.jpg │ │ ├── calibration_board4.jpg │ │ ├── calibration_board5.jpg │ │ ├── calibration_board6.jpg │ │ ├── calibration_board7.jpg │ │ ├── calibration_board8.jpg │ │ ├── camera_mount1.jpg │ │ ├── camera_mount2.jpg │ │ ├── camera_mount3.jpg │ │ ├── droid_setup.jpg │ │ ├── miscellaneous_wiring1.jpg │ │ ├── miscellaneous_wiring10.jpg │ │ ├── miscellaneous_wiring11.jpg │ │ ├── miscellaneous_wiring12.jpg │ │ ├── miscellaneous_wiring13.jpg │ │ ├── miscellaneous_wiring14.jpg │ │ ├── miscellaneous_wiring15.jpg │ │ ├── miscellaneous_wiring16.jpg │ │ ├── miscellaneous_wiring17.jpg │ │ ├── miscellaneous_wiring18.jpg │ │ ├── miscellaneous_wiring19.jpg │ │ ├── miscellaneous_wiring2.jpg │ │ ├── miscellaneous_wiring3.jpg │ │ ├── miscellaneous_wiring4.jpg │ │ ├── miscellaneous_wiring5.jpg │ │ ├── miscellaneous_wiring6.jpg │ │ ├── miscellaneous_wiring7.jpg │ │ ├── miscellaneous_wiring8.jpg │ │ ├── miscellaneous_wiring9.jpg │ │ ├── mobile_base1.jpg │ │ ├── mobile_base2.jpg │ │ ├── mobile_base3.jpg │ │ ├── mobile_base4.jpg │ │ ├── mobile_base5.jpg │ │ ├── mobile_base6.jpg │ │ ├── overview1.png │ │ ├── overview2.png │ │ ├── robotiq_attach1.jpg │ │ ├── robotiq_attach2.jpg │ │ ├── robotiq_attach3.jpg │ │ ├── robotiq_attach4.jpg │ │ ├── robotiq_attach5.jpg │ │ ├── robotiq_attach6.jpg │ │ ├── robotiq_wiring1.jpg │ │ ├── robotiq_wiring2.jpg │ │ ├── robotiq_wiring3.jpg │ │ ├── robotiq_wiring4.jpg │ │ ├── robotiq_wiring5.jpg │ │ ├── robotiq_wiring6.jpg │ │ ├── robotiq_wiring7.jpg │ │ ├── robotiq_wiring8.jpg │ │ ├── robotiq_wiring9.jpg │ │ ├── third_person1.png │ │ └── third_person2.jpg │ ├── index │ │ ├── banner.jpeg │ │ └── droid_teaser.jpg │ ├── software-setup │ │ └── polymetis_controller_manager.png │ └── the-droid-dataset │ │ └── droid_data_visualizer.png ├── contribution-guidelines.md ├── example-workflows │ ├── calibrating-cameras.md │ ├── data-collection.md │ ├── example-workflows.md │ ├── teleoperation.md │ └── training-policies.md ├── favicon.ico ├── hardware-setup │ ├── assembly.md │ ├── hardware-setup.md │ └── shopping-list.md ├── index.md ├── software-setup │ ├── docker.md │ ├── host-installation.md │ └── software-setup.md └── the-droid-dataset.md ├── droid ├── __init__.py ├── calibration │ ├── __init__.py │ ├── calibration_info.json │ └── calibration_utils.py ├── camera_utils │ ├── __init__.py │ ├── camera_readers │ │ ├── __init__.py │ │ └── zed_camera.py │ ├── info.py │ ├── recording_readers │ │ ├── mp4_reader.py │ │ └── svo_reader.py │ └── wrappers │ │ ├── __init__.py │ │ ├── multi_camera_wrapper.py │ │ └── recorded_multi_camera_wrapper.py ├── controllers │ └── oculus_controller.py ├── data_loading │ ├── data_loader.py │ ├── dataset.py │ ├── tf_data_loader.py │ └── trajectory_sampler.py ├── data_processing │ ├── data_transforms.py │ └── timestep_processing.py ├── evaluation │ ├── eval_launcher.py │ ├── eval_launcher_robomimic.py │ ├── policy_wrapper.py │ └── rt1_wrapper.py ├── franka │ ├── __init__.py │ ├── launch_gripper.sh │ ├── launch_robot.sh │ └── robot.py ├── misc │ ├── parameters.py │ ├── pointcloud_utils.py │ ├── server_interface.py │ ├── subprocess_utils.py │ ├── time.py │ ├── transformations.py │ └── version_control │ │ ├── 1_0.json │ │ ├── 1_1.json │ │ └── loader.py ├── plotting │ ├── __init__.py │ ├── analysis_func.py │ ├── misc.py │ └── text.py ├── postprocessing │ ├── __init__.py │ ├── parse.py │ ├── schema.py │ ├── stages.py │ └── util │ │ ├── __init__.py │ │ ├── svo2depth.py │ │ ├── svo2mp4.py │ │ └── validate.py ├── robot_env.py ├── robot_ik │ ├── arm.py │ ├── franka │ │ ├── fr3.xml │ │ ├── mesh │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ ├── panda.xml │ │ └── texture │ │ │ └── panda.png │ └── robot_ik_solver.py ├── training │ ├── model_trainer.py │ └── models │ │ └── policy_network.py ├── trajectory_utils │ ├── misc.py │ ├── trajectory_reader.py │ └── trajectory_writer.py └── user_interface │ ├── __init__.py │ ├── data_collector.py │ ├── eval_gui.py │ ├── gui.py │ ├── gui_info.json │ ├── gui_parameters.py │ ├── misc.py │ └── text.py ├── pyproject.toml ├── scripts ├── README.md ├── convert │ ├── svo_to_depth.py │ ├── svo_to_mp4.py │ └── to_tfrecord.py ├── evaluation │ ├── evaluate_policy.py │ ├── evaluate_rt1.py │ └── results.ipynb ├── labeling │ ├── 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