├── .circleci └── config.yml ├── .flake8 ├── .gitattributes ├── .gitconfig ├── .github ├── CODEOWNERS ├── ISSUE_TEMPLATE │ ├── BUG_REPORT.md │ └── FEATURE_REQUEST.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .gitmodules ├── .isort.cfg ├── .pre-commit-config.yaml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── assets ├── blue_block.urdf ├── green_block.urdf ├── hab_stretch │ ├── .gitattributes │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE.md │ ├── README.md │ ├── get_mesh_data.py │ ├── habitat_stretch │ │ ├── LICENSE.txt │ │ ├── meshes │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── laser.mtl │ │ │ ├── laser.obj │ │ │ ├── link_arm_l0.mtl │ │ │ ├── link_arm_l0.obj │ │ │ ├── link_arm_l1.mtl │ │ │ ├── link_arm_l1.obj │ │ │ ├── link_arm_l2.mtl │ │ │ ├── link_arm_l2.obj │ │ │ ├── link_arm_l3.mtl │ │ │ ├── link_arm_l3.obj │ │ │ ├── link_arm_l4.mtl │ │ │ ├── link_arm_l4.obj │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_gripper_finger_left.mtl │ │ │ ├── link_gripper_finger_left.obj │ │ │ ├── link_gripper_finger_right.mtl │ │ │ ├── link_gripper_finger_right.obj │ │ │ ├── link_gripper_fingertip_left.mtl │ │ │ ├── link_gripper_fingertip_left.obj │ │ │ ├── link_gripper_fingertip_right.mtl │ │ │ ├── link_gripper_fingertip_right.obj │ │ │ ├── link_head.mtl │ │ │ ├── link_head.obj │ │ │ ├── link_head_pan.mtl │ │ │ ├── link_head_pan.obj │ │ │ ├── link_head_tilt.mtl │ │ │ ├── link_head_tilt.obj │ │ │ ├── link_left_wheel.mtl │ │ │ ├── link_left_wheel.obj │ │ │ ├── link_lift.mtl │ │ │ ├── link_lift.obj │ │ │ ├── link_mast.mtl │ │ │ ├── link_mast.obj │ │ │ ├── link_puller.mtl │ │ │ ├── link_respeaker.mtl │ │ │ ├── link_respeaker.obj │ │ │ ├── link_right_wheel.mtl │ │ │ ├── link_right_wheel.obj │ │ │ ├── link_straight_gripper.STL │ │ │ ├── link_wrist_pitch.STL │ │ │ ├── link_wrist_roll.STL │ │ │ ├── link_wrist_yaw.mtl │ │ │ ├── link_wrist_yaw.obj │ │ │ ├── link_wrist_yaw_bottom.STL │ │ │ ├── omni_wheel_m.mtl │ │ │ ├── omni_wheel_m.obj │ │ │ └── realsense2 │ │ │ │ └── d435.dae │ │ └── urdf │ │ │ ├── hab_stretch.urdf │ │ │ └── hab_stretch_arm_heavy.urdf │ ├── imgs │ │ ├── pile_of_stretches.png │ │ └── simplified.png │ ├── meshes │ │ ├── base_imu.STL │ │ ├── base_link.STL │ │ ├── guthrie │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ ├── hank │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ ├── irma │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ ├── joplin │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ ├── kendrick │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ ├── laser.STL │ │ ├── link_arm_l0.STL │ │ ├── link_arm_l1.STL │ │ ├── link_arm_l2.STL │ │ ├── link_arm_l3.STL │ │ ├── link_arm_l4.STL │ │ ├── link_aruco_inner_wrist.STL │ │ ├── link_aruco_left_base.STL │ │ ├── link_aruco_right_base.STL │ │ ├── link_aruco_shoulder.STL │ │ ├── link_aruco_top_wrist.STL │ │ ├── link_dry_erase_holder.STL │ │ ├── link_dry_erase_marker.STL │ │ ├── link_gripper.STL │ │ ├── link_gripper_finger_left.STL │ │ ├── link_gripper_finger_right.STL │ │ ├── link_gripper_fingertip_left.STL │ │ ├── link_gripper_fingertip_right.STL │ │ ├── link_head.STL │ │ ├── link_head_pan.STL │ │ ├── link_head_tilt.STL │ │ ├── link_left_wheel.STL │ │ ├── link_lift.STL │ │ ├── link_mast.STL │ │ ├── link_puller.STL │ │ ├── link_respeaker.STL │ │ ├── link_right_wheel.STL │ │ ├── link_straight_gripper.STL │ │ ├── link_wrist_pitch.STL │ │ ├── link_wrist_roll.STL │ │ ├── link_wrist_yaw.STL │ │ ├── link_wrist_yaw_bottom.STL │ │ ├── omni_wheel_m.STL │ │ ├── realsense2 │ │ │ ├── d415.stl │ │ │ ├── d435.dae │ │ │ ├── d455.stl │ │ │ ├── l515.dae │ │ │ ├── plug.stl │ │ │ └── plug_collision.stl │ │ └── respeaker_base.STL │ ├── package.xml │ ├── test_planner_pybullet.py │ ├── test_pybullet.py │ └── urdf │ │ ├── export_urdf.sh │ │ ├── export_urdf_license_template.md │ │ ├── exported_urdf │ │ ├── LICENSE.md │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── d435.dae │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── update_meshes.py │ │ └── stretch.urdf │ │ ├── hab_stretch.urdf │ │ ├── hab_stretch_dex_wrist.urdf │ │ ├── hab_stretch_dex_wrist_simplified.urdf │ │ ├── hab_stretch_gripper_heavy.urdf │ │ ├── planner_calibrated.urdf │ │ ├── planner_calibrated_manipulation_mode.urdf │ │ ├── planner_calibrated_simplified.urdf │ │ ├── planner_stretch_dex_wrist_simplified.urdf │ │ ├── stretch.urdf │ │ ├── stretch_aruco.xacro │ │ ├── stretch_d435i.xacro │ │ ├── stretch_description.xacro │ │ ├── stretch_dex_wrist.xacro │ │ ├── stretch_dex_wrist_simplified.urdf │ │ ├── stretch_dry_erase_marker.xacro │ │ ├── stretch_gripper.xacro │ │ ├── stretch_gripper_with_puller.xacro │ │ ├── stretch_laser_range_finder.xacro │ │ ├── stretch_main.xacro │ │ ├── stretch_manip_mode.urdf │ │ ├── stretch_respeaker.xacro │ │ ├── stretch_uncalibrated.urdf │ │ └── xacro_to_urdf.sh ├── large_table.urdf ├── planner.urdf ├── red_block.urdf ├── simple_table.urdf └── yellow_block.urdf ├── docs ├── HomeRobot_Logo_Horiz_Color.png ├── HomeRobot_Logo_Horiz_Color_white_bg.png ├── calibration.md ├── catkin.md ├── challenge.md ├── example_with_urdf.png ├── hardware_development.md ├── install_pytorch.md ├── install_robot.md ├── install_workstation.md ├── network.md ├── spot.md └── troubleshooting.md ├── download_data.sh ├── examples ├── 1_hw_basic_control.py ├── 2_hw_async_actions.py └── traj_follower.ipynb ├── install_deps.sh ├── projects ├── data_collection │ ├── README.md │ ├── collect_h5.py │ └── tutorial_h5_dataloader.py ├── habitat_objectnav │ ├── README.md │ ├── config_utils.py │ ├── configs │ │ ├── agent │ │ │ ├── floorplanner_eval.yaml │ │ │ ├── floorplanner_eval_detic_receptacle_categories.yaml │ │ │ ├── floorplanner_eval_gt_receptacle_categories.yaml │ │ │ ├── hm3d_28_cat_eval.yaml │ │ │ └── hm3d_eval.yaml │ │ └── task │ │ │ ├── floorplanner_val.yaml │ │ │ ├── floorplanner_val_receptacle_categories.yaml │ │ │ └── hm3d_challenge2022_val.yaml │ ├── download_hm3d_episodes.sh │ ├── eval_dataset.py │ ├── eval_episode.py │ └── files_to_adapt │ │ ├── eval_env_wrapper.py │ │ ├── eval_vectorized.py │ │ └── eval_vectorized.sh ├── habitat_ovmm │ ├── README.md │ ├── configs │ │ ├── agent │ │ │ ├── heuristic_agent.yaml │ │ │ ├── heuristic_instance_tracking_agent.yaml │ │ │ ├── rl_agent.yaml │ │ │ └── skills │ │ │ │ ├── gaze_rl.yaml │ │ │ │ ├── nav_to_obj_rl.yaml │ │ │ │ ├── nav_to_rec_rl.yaml │ │ │ │ └── place_rl.yaml │ │ └── env │ │ │ ├── hssd_demo.yaml │ │ │ ├── hssd_demo_robot_agent.yaml │ │ │ └── hssd_eval.yaml │ ├── docker │ │ ├── ovmm_baseline.Dockerfile │ │ └── ovmm_random_agent.Dockerfile │ ├── eval_baselines_agent.py │ ├── eval_robot_agent.py │ ├── evaluator.py │ ├── install.sh │ ├── receptacles_data_collection.py │ ├── scripts │ │ ├── gen_configs.py │ │ ├── submission.sh │ │ ├── summarize_metrics.py │ │ └── test_local.sh │ ├── test_rendering.py │ ├── test_svm.ipynb │ ├── test_svm_from_obs.ipynb │ └── utils │ │ ├── __init__.py │ │ ├── config_utils.py │ │ ├── env_utils.py │ │ └── metrics_utils.py ├── instanceimagenav │ ├── README.md │ ├── config_utils.py │ ├── configs │ │ └── instance_imagenav_hm3d.yaml │ ├── eval_episode_habitat.py │ ├── eval_episode_stretch.py │ ├── habitat_extensions.py │ ├── image_goals │ │ └── 0_tst_chair.png │ └── requirements.txt ├── offline_mapping │ ├── README.md │ ├── build_map.py │ ├── coco_categories_legend.png │ └── map.png ├── real_world_ovmm │ ├── README.md │ ├── configs │ │ ├── agent │ │ │ ├── eval.yaml │ │ │ └── eval_vlm.yaml │ │ └── example_cat_map.json │ ├── eval_episode.py │ ├── experimental │ │ ├── demo_fastsam.py │ │ ├── demo_sam.py │ │ ├── demo_zerodepth.py │ │ ├── execute_trajectory.py │ │ ├── goals.txt │ │ ├── mapping.py │ │ └── trajectories.txt │ ├── requirements.txt │ └── tests │ │ ├── test_action_interface.py │ │ ├── test_detic.py │ │ ├── test_discrete_actions.py │ │ ├── test_heuristic_policies.py │ │ ├── test_motion.py │ │ ├── test_pick.py │ │ └── test_vel_and_accel.py ├── scannet_offline_eval │ ├── .gitignore │ ├── configs │ │ ├── build_sparse_voxel_map.yaml │ │ ├── canned_robot_publisher.yaml │ │ ├── dataset │ │ │ └── scannet.yaml │ │ ├── eval.yaml │ │ ├── eval_fn │ │ │ ├── obj_det.yaml │ │ │ └── ref_exp.yaml │ │ ├── hydra │ │ │ └── default.yaml │ │ ├── model │ │ │ ├── clusterer │ │ │ │ └── dbscan.yaml │ │ │ ├── conceptfusion.yaml │ │ │ ├── image_text_encoder │ │ │ │ └── clip.yaml │ │ │ ├── instancemap3d_bottom_up.yaml │ │ │ ├── instancemap3d_top_down.yaml │ │ │ ├── instancemap3d_top_down_detic.yaml │ │ │ ├── mask_generator │ │ │ │ └── sam.yaml │ │ │ ├── semantic_sensor │ │ │ │ ├── detic_perception.yaml │ │ │ │ ├── grounded_sam_perception.yaml │ │ │ │ └── grounded_sam_perception_home_robot.yaml │ │ │ ├── voxel_map │ │ │ │ ├── default.yaml │ │ │ │ └── mtm.yaml │ │ │ └── voxel_ptc │ │ │ │ └── default.yaml │ │ ├── paths │ │ │ └── default.yaml │ │ └── scannet_publisher.yaml │ ├── create_instance_map.py │ ├── demo │ │ ├── README.md │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── chat.css │ │ │ ├── images │ │ │ │ ├── VC1-cropped.svg │ │ │ │ ├── cheery_robot.jpg │ │ │ │ ├── cute_robot.jpg │ │ │ │ ├── googley_roomba.jpeg │ │ │ │ ├── gripper.jpeg │ │ │ │ ├── loading.gif │ │ │ │ ├── spot_small.jpeg │ │ │ │ ├── stream_paused_1_1_horiz.jpg │ │ │ │ └── stream_paused_4_3.jpg │ │ │ └── prompts │ │ │ │ └── demo.txt │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── app.py │ │ │ ├── chat.py │ │ │ ├── core.py │ │ │ ├── demo_header.py │ │ │ ├── directory_watcher.py │ │ │ ├── gripper_feed.py │ │ │ ├── publisher_server.py │ │ │ └── realtime_3d.py │ │ ├── create_spot_mesh.ipynb │ │ ├── proto │ │ │ └── robodata.proto │ │ ├── proto_robot │ │ │ ├── mock_publisher.py │ │ │ ├── ovmm_test.yaml │ │ │ └── robodata_server.py │ │ ├── publishers │ │ │ ├── canned_robot_publisher.py │ │ │ └── scannet_publisher.py │ │ └── server.py │ ├── demo_conceptfusion.ipynb │ ├── eval.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── obj_det.py │ │ └── refer_exp.py │ ├── extract_scannet_frames.py │ ├── instance_map_figure.ipynb │ └── semantic_map_3d.ipynb ├── slap_manipulation │ ├── assets │ │ ├── language.yaml │ │ ├── language_variations │ │ │ └── v0.yml │ │ ├── skill_to_action.yaml │ │ └── task_information.yaml │ ├── configs │ │ ├── language_agent.yaml │ │ ├── overfit_multi.yaml │ │ ├── overfit_single.yaml │ │ ├── per_cmd_language.yaml │ │ ├── split.yaml │ │ └── std_task_name_mapping.yaml │ ├── readme.md │ ├── requirements.yml │ ├── scripts │ │ ├── add_detic_features_to_h5.py │ │ ├── conf │ │ │ └── slap_inference.yaml │ │ ├── create_h5_splits.py │ │ ├── edit_demonstrations.py │ │ ├── eval_lang_slap_agent.py │ │ ├── eval_peract_agent.py │ │ ├── get_cmd_to_steps_data.py │ │ ├── label_demo_status.py │ │ ├── label_interaction_points.py │ │ ├── read_h5s.py │ │ ├── readme.MD │ │ ├── rename_task_names.py │ │ ├── test_detic_on_obs.py │ │ └── visualize_episodes_h5.py │ ├── setup.py │ └── src │ │ └── slap_manipulation │ │ ├── agents │ │ ├── general_language_agent.py │ │ ├── peract_agent.py │ │ └── slap_agent.py │ │ ├── dataloaders │ │ ├── annotations.py │ │ ├── peract_loader.py │ │ ├── rlbench_loader.py │ │ └── robot_loader.py │ │ ├── env │ │ ├── general_language_env.py │ │ └── language_planner_env.py │ │ ├── optim │ │ └── lamb.py │ │ ├── policy │ │ ├── action_prediction_module.py │ │ ├── components.py │ │ ├── conf │ │ │ ├── action_predictor_training.yaml │ │ │ └── interaction_predictor_training.yaml │ │ ├── interaction_prediction_module.py │ │ ├── mdn.py │ │ └── peract.py │ │ └── utils │ │ ├── data_visualizers.py │ │ ├── pointcloud_preprocessing.py │ │ ├── slap_planner.py │ │ └── transformations.py ├── stretch_continual │ ├── README.md │ ├── setup.py │ ├── stretch_continual │ │ ├── __init__.py │ │ └── envs │ │ │ ├── __init__.py │ │ │ ├── stretch_collect_demo_env.py │ │ │ ├── stretch_demo_base_env.py │ │ │ ├── stretch_live_env.py │ │ │ └── stretch_offline_demo_env.py │ └── urdf │ │ ├── planner_calibrated.urdf │ │ └── planner_calibrated_manipulation_mode.urdf ├── stretch_exploration │ ├── configs │ │ └── agent │ │ │ └── floorplanner_eval.yaml │ └── eval_episode.py └── stretch_objectnav │ ├── configs │ └── agent │ │ ├── floorplanner_eval.yaml │ │ ├── floorplanner_eval_detic_receptacle_categories.yaml │ │ ├── floorplanner_eval_gt_receptacle_categories.yaml │ │ └── hm3d_eval.yaml │ ├── eval_episode.py │ └── rotate_in_place.py ├── src ├── home_robot │ ├── README.md │ ├── config │ │ └── control │ │ │ ├── motion_profiles.yaml │ │ │ ├── noplan_velocity_hw.yaml │ │ │ ├── noplan_velocity_sim.yaml │ │ │ └── traj_follower.yaml │ ├── environment.yml │ ├── examples │ │ └── read_sparse_voxel_map.py │ ├── home_robot │ │ ├── __init__.py │ │ ├── agent │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── exploration_agent │ │ │ │ ├── exploration_agent.py │ │ │ │ └── exploration_agent_module.py │ │ │ ├── imagenav_agent │ │ │ │ ├── __init__.py │ │ │ │ ├── frontier_exploration.py │ │ │ │ ├── imagenav_agent.py │ │ │ │ ├── obs_preprocessor.py │ │ │ │ ├── superglue.py │ │ │ │ └── visualizer.py │ │ │ ├── multitask │ │ │ │ ├── __init__.py │ │ │ │ ├── base_multi_task_agent.py │ │ │ │ ├── openai_client.py │ │ │ │ ├── parameters.py │ │ │ │ ├── robot_agent.py │ │ │ │ └── sparse_voxel_instance_map.py │ │ │ ├── objectnav_agent │ │ │ │ ├── __init__.py │ │ │ │ ├── objectnav_agent.py │ │ │ │ ├── objectnav_agent_module.py │ │ │ │ ├── reset_nav_agent.py │ │ │ │ └── sampling_agent.py │ │ │ └── ovmm_agent │ │ │ │ ├── __init__.py │ │ │ │ ├── complete_obs_space.py │ │ │ │ ├── ovmm_agent.py │ │ │ │ ├── ovmm_exploration_agent.py │ │ │ │ ├── ovmm_llm_agent.py │ │ │ │ ├── pick_and_place_agent.py │ │ │ │ ├── ppo_agent.py │ │ │ │ ├── random_agent.py │ │ │ │ └── vlm_agent.py │ │ ├── control │ │ │ ├── __init__.py │ │ │ ├── feedback │ │ │ │ ├── __init__.py │ │ │ │ └── velocity_controllers.py │ │ │ ├── goto_controller.py │ │ │ └── traj_following_controller.py │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── abstract_agent.py │ │ │ ├── abstract_env.py │ │ │ ├── abstract_perception.py │ │ │ ├── interfaces.py │ │ │ ├── robot.py │ │ │ └── state.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── eqa │ │ │ │ ├── __init__.py │ │ │ │ ├── dataset.py │ │ │ │ ├── datautils.py │ │ │ │ └── utils.py │ │ │ ├── scannet │ │ │ │ ├── .gitignore │ │ │ │ ├── __init__.py │ │ │ │ ├── data │ │ │ │ │ ├── batch_load_scannet_data.py │ │ │ │ │ ├── extract_instance_images.py │ │ │ │ │ ├── extract_posed_images.py │ │ │ │ │ ├── load_scannet_data.py │ │ │ │ │ └── scannet_utils.py │ │ │ │ ├── referit3d │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── nyu_40_classes_enumerated.txt │ │ │ │ │ └── scannet_20_benchmark_classes.txt │ │ │ │ ├── referit3d_data.py │ │ │ │ ├── scannet_constants.py │ │ │ │ ├── scannet_dataset.py │ │ │ │ ├── scanrefer_data.py │ │ │ │ └── visualize_scannet.ipynb │ │ │ └── spot │ │ │ │ ├── .gitignore │ │ │ │ ├── __init__.py │ │ │ │ └── data_utils.py │ │ ├── manipulation │ │ │ ├── __init__.py │ │ │ ├── grasping.py │ │ │ ├── heuristic_pick_policy.py │ │ │ ├── heuristic_place_policy.py │ │ │ └── voxel_grasps.py │ │ ├── mapping │ │ │ ├── __init__.py │ │ │ ├── geometric │ │ │ │ ├── geometric_map_module.py │ │ │ │ └── geometric_map_state.py │ │ │ ├── instance │ │ │ │ ├── __init__.py │ │ │ │ ├── core.py │ │ │ │ ├── instance_map.py │ │ │ │ └── matching.py │ │ │ ├── map_utils.py │ │ │ ├── semantic │ │ │ │ ├── __init__.py │ │ │ │ ├── categorical_2d_demo.ipynb │ │ │ │ ├── categorical_2d_semantic_map_module.py │ │ │ │ ├── categorical_2d_semantic_map_state.py │ │ │ │ ├── constants.py │ │ │ │ ├── vision_language_2d_demo.ipynb │ │ │ │ ├── vision_language_2d_semantic_map_module.py │ │ │ │ └── vision_language_2d_semantic_map_state.py │ │ │ └── voxel │ │ │ │ ├── __init__.py │ │ │ │ ├── feature │ │ │ │ ├── __init__.py │ │ │ │ └── conceptfusion.py │ │ │ │ ├── planners.py │ │ │ │ ├── voxel.py │ │ │ │ ├── voxel_map.py │ │ │ │ └── voxel_publisher.py │ │ ├── motion │ │ │ ├── __init__.py │ │ │ ├── arms.py │ │ │ ├── base.py │ │ │ ├── bullet.py │ │ │ ├── franka.py │ │ │ ├── ik_solver_base.py │ │ │ ├── interpolate.py │ │ │ ├── linear.py │ │ │ ├── pinocchio_ik_solver.py │ │ │ ├── robot.py │ │ │ ├── rrt.py │ │ │ ├── rrt_connect.py │ │ │ ├── shortcut.py │ │ │ ├── space.py │ │ │ ├── spot.py │ │ │ └── stretch.py │ │ ├── navigation_planner │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── discrete_planner.py │ │ │ └── fmm_planner.py │ │ ├── navigation_policy │ │ │ ├── __init__.py │ │ │ ├── exploration │ │ │ │ └── frontier_exploration_policy.py │ │ │ └── object_navigation │ │ │ │ ├── __init__.py │ │ │ │ └── objectnav_frontier_exploration_policy.py │ │ ├── perception │ │ │ ├── __init__.py │ │ │ ├── coco_categories_legend.png │ │ │ ├── constants.py │ │ │ ├── detection │ │ │ │ ├── README.md │ │ │ │ ├── detic │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── detic_mask.py │ │ │ │ │ └── detic_perception.py │ │ │ │ ├── grounded_sam │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── grounded_sam_perception.py │ │ │ │ │ └── sam_perception.py │ │ │ │ ├── maskrcnn │ │ │ │ │ ├── Base-RCNN-FPN.yaml │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── coco_categories.py │ │ │ │ │ ├── mask_rcnn_R_50_FPN_3x.yaml │ │ │ │ │ └── maskrcnn_perception.py │ │ │ │ └── utils.py │ │ │ ├── encoders │ │ │ │ ├── __init__.py │ │ │ │ ├── base_encoder.py │ │ │ │ ├── clip_encoder.py │ │ │ │ └── mtm_encoder.py │ │ │ ├── matterport_category_mappings.tsv │ │ │ ├── midas.py │ │ │ ├── mukul_33categories_legend.png │ │ │ ├── rearrange_3categories_legend.png │ │ │ ├── rearrange_detic_categories_legend.png │ │ │ └── wrapper.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── bboxes_3d.py │ │ │ ├── bboxes_3d_plotly.py │ │ │ ├── bullet.py │ │ │ ├── config.py │ │ │ ├── constants.py │ │ │ ├── data_tools │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── alephzero.py │ │ │ ├── base.py │ │ │ ├── camera.py │ │ │ ├── dict.py │ │ │ ├── h5_utils.py │ │ │ ├── image.py │ │ │ ├── loader.py │ │ │ ├── robohive.py │ │ │ └── writer.py │ │ │ ├── demo_chat.py │ │ │ ├── depth.py │ │ │ ├── geometry │ │ │ ├── __init__.py │ │ │ ├── _base.py │ │ │ └── angles.py │ │ │ ├── image.py │ │ │ ├── morphology.py │ │ │ ├── numpy_ext.py │ │ │ ├── path.py │ │ │ ├── planar.py │ │ │ ├── plotly_vis │ │ │ ├── __init__.py │ │ │ └── camera.py │ │ │ ├── point_cloud.py │ │ │ ├── point_cloud_torch.py │ │ │ ├── pointnet.py │ │ │ ├── pose.py │ │ │ ├── rotation.py │ │ │ ├── rpc.py │ │ │ ├── simple_env.py │ │ │ ├── spot.py │ │ │ ├── threading.py │ │ │ ├── visualization.py │ │ │ └── voxel.py │ ├── requirements.txt │ └── setup.py ├── home_robot_hw │ ├── CMakeLists.txt │ ├── assets │ ├── configs │ │ └── default.yaml │ ├── environment.yml │ ├── examples │ │ ├── build_3d_map.py │ │ └── demo.py │ ├── home_robot_hw │ │ ├── __init__.py │ │ ├── constants.py │ │ ├── env │ │ │ ├── __init__.py │ │ │ ├── simple_navigation_env.py │ │ │ ├── stretch_abstract_env.py │ │ │ ├── stretch_exploration_env.py │ │ │ ├── stretch_image_nav_env.py │ │ │ ├── stretch_manipulation_env.py │ │ │ ├── stretch_object_nav_env.py │ │ │ ├── stretch_pick_and_place_env.py │ │ │ └── visualizer.py │ │ ├── manipulation │ │ │ ├── __init__.py │ │ │ └── funmap.py │ │ ├── nodes │ │ │ ├── __init__.py │ │ │ ├── camera_pose_publisher.py │ │ │ ├── clock.py │ │ │ ├── contact_graspnet_server.py │ │ │ ├── goto_controller.py │ │ │ ├── simple_grasp_server.py │ │ │ └── state_estimator.py │ │ ├── remote │ │ │ ├── __init__.py │ │ │ ├── api.py │ │ │ ├── interactive_cli.py │ │ │ ├── modules │ │ │ │ ├── __init__.py │ │ │ │ ├── abstract.py │ │ │ │ ├── head.py │ │ │ │ ├── manip.py │ │ │ │ └── nav.py │ │ │ └── ros.py │ │ ├── ros │ │ │ ├── __init__.py │ │ │ ├── abstract.py │ │ │ ├── camera.py │ │ │ ├── grasp_helper.py │ │ │ ├── image_transport.py │ │ │ ├── lidar.py │ │ │ ├── mask_rcnn.py │ │ │ ├── msg_numpy.py │ │ │ ├── path.py │ │ │ ├── position_mode.py │ │ │ ├── recorder.py │ │ │ ├── slam_publisher.py │ │ │ ├── srv_prebuilt │ │ │ │ ├── _GraspRequest.py │ │ │ │ ├── __init__.py │ │ │ │ └── cp_from_catkin_ws.sh │ │ │ ├── synchronized.py │ │ │ ├── teleop.py │ │ │ ├── utils.py │ │ │ └── visualizer.py │ │ ├── teleop │ │ │ ├── __init__.py │ │ │ ├── keyboard_teleop.py │ │ │ ├── stretch_xbox_controller.py │ │ │ └── stretch_xbox_controller_teleop.py │ │ └── utils │ │ │ ├── collector.py │ │ │ ├── config.py │ │ │ ├── eval.py │ │ │ ├── eval_ai │ │ │ ├── evaluation_pb2.py │ │ │ └── evaluation_pb2_grpc.py │ │ │ └── grasping.py │ ├── launch │ │ ├── controller.launch │ │ ├── data_collection.rviz │ │ ├── home_robot_nodes.launch │ │ ├── labeling.launch │ │ ├── mapping_demo.rviz │ │ ├── master_clock.launch │ │ ├── ros_workstation.rviz │ │ ├── rplidar.launch │ │ ├── sensors.launch │ │ ├── startup_stretch_hector_slam.launch │ │ ├── stretch_hector_mapping.launch │ │ ├── stretch_laser_odom_base.launch │ │ ├── two_cameras.launch │ │ ├── two_cameras.rviz │ │ └── visualization.launch │ ├── package.xml │ ├── scripts │ │ ├── interactive_marker.py │ │ ├── receive_png.py │ │ ├── rotate_images.py │ │ ├── run_controller_teleop.py │ │ └── send_png.py │ ├── setup.py │ └── srv │ │ └── GraspRequest.srv ├── home_robot_sim │ ├── README.md │ ├── configs │ │ ├── default.yaml │ │ └── gpt4v.yaml │ ├── environment.yml │ ├── home_robot_sim │ │ ├── __init__.py │ │ ├── agent │ │ │ ├── __init__.py │ │ │ └── habitat_abstract_agent.py │ │ ├── env │ │ │ ├── __init__.py │ │ │ ├── habitat_abstract_env.py │ │ │ ├── habitat_imagenav_env │ │ │ │ └── habitat_imagenav_env.py │ │ │ ├── habitat_objectnav_env │ │ │ │ ├── __init__.py │ │ │ │ ├── coco_categories_legend.png │ │ │ │ ├── habitat_objectnav_env.py │ │ │ │ ├── hssd_28_cat_legend.png │ │ │ │ ├── matterport_category_mappings.tsv │ │ │ │ ├── mukul_33categories_legend.png │ │ │ │ ├── rearrange_3categories_legend.png │ │ │ │ ├── rearrange_detic_categories_legend.png │ │ │ │ └── visualizer.py │ │ │ └── habitat_ovmm_env │ │ │ │ ├── __init__.py │ │ │ │ └── habitat_ovmm_env.py │ │ ├── nodes │ │ │ ├── __init__.py │ │ │ └── fake_stretch_robot.py │ │ └── ovmm_sim_client.py │ ├── install.sh │ ├── notebooks │ │ └── velocity_control_sim.ipynb │ └── setup.py └── home_robot_spot │ ├── README.md │ ├── configs │ ├── default_config.yaml │ ├── demo_cat_map.json │ ├── parameters.yaml │ ├── parameters_blue_spot.yaml │ └── parameters_fre.yaml │ ├── env.yaml │ ├── examples │ ├── demo.py │ ├── demo_utils │ │ ├── demo_ui.py │ │ └── mock_agent.py │ ├── experimental │ │ └── try_zerodepth.py │ ├── main_old.txt │ ├── spot_3d_map.py │ └── spot_detic.ipynb │ ├── home_robot_spot │ ├── __init__.py │ ├── grasp_env.py │ ├── spot_client.py │ └── spot_demo_agent.py │ └── setup.py └── tests ├── home_robot ├── control │ ├── test_velocity_controllers.py │ ├── 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