├── .flake8 ├── .github ├── PULL_REQUEST_TEMPLATE.md └── workflows │ └── run_pre-commit.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .vscode └── tasks.json ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── aria_data_loaders ├── README.md ├── __init__.py ├── aria_data_utils │ ├── adt_data_loader.py │ ├── aria_live_streamer.py │ ├── aria_sdk_utils.py │ ├── aria_streamer.py │ ├── episodic_memory_robotic_fetch.py │ ├── episodic_memory_robotic_fetch_quest3_c.py │ ├── human_sensor_data_streamer_interface.py │ ├── memory_interface │ │ ├── adt_memory_provider.py │ │ └── memory_objects.py │ ├── quest3_data_streamer.py │ ├── rviz │ │ ├── spot-aria.rviz │ │ └── spot-quest3.rviz │ └── unified_quest_camera_interface.py ├── aria_frames_info.png ├── device_model │ └── device_T_cpf.npy ├── experiments │ └── test_owlvit.ipynb ├── labeled_rviz_snapshot.jpeg └── setup.py ├── bd_spot_wrapper ├── .gitignore ├── README.md ├── __init__.py ├── data │ ├── depth_transforms.txt │ ├── image_sources.txt │ └── transforms_example.txt ├── generate_executables.py ├── requirements.txt ├── setup.py └── spot_wrapper │ ├── __init__.py │ ├── data_logger.py │ ├── draw_square.py │ ├── estop.py │ ├── headless_estop.py │ ├── home_robot.py │ ├── keyboard_teleop.py │ ├── monitor_nav_pose.py │ ├── roll_over.py │ ├── selfright.py │ ├── sit.py │ ├── spot.py │ ├── spot_qr_detector.py │ ├── stand.py │ ├── utils.py │ ├── view_arm_proprioception.py │ ├── view_camera.py │ └── view_camera_and_record.py ├── installation ├── ISSUES.md ├── SETUP_INSTRUCTIONS.md └── environment.yml ├── intel_realsense_payload_for_spotsim2real ├── Dockerfile ├── IntelRealSenseCameraInterface.py ├── README.md ├── bashrc.txt ├── caliberate_intel_with_gripper_cam.py ├── images_for_readme │ ├── spot-client.jpg │ └── spot_core_intel_realsense.drawio.png ├── intelrealsense_image_service.py ├── intelrealsensepayloadservice.service ├── makepythonexecutable[optional] │ ├── intelrealsense_image_service.spec │ ├── pyinstallercommand.sh │ ├── register_image_service_payload.spec │ └── spot-client.spec ├── register_image_service_payload.py ├── requirements.txt ├── spot_sim2real_integrationfn.py ├── startpayload.sh └── visualizer.py ├── perception_and_utils_root ├── __init__.py ├── perception_and_utils │ ├── __init__.py │ ├── perception │ │ ├── __init__.py │ │ ├── april_tag_pose_estimator.py │ │ ├── detector_wrappers │ │ │ ├── __init__.py │ │ │ ├── april_tag_detector.py │ │ │ ├── generic_detector_interface.py │ │ │ ├── human_motion_detector.py │ │ │ └── object_detector.py │ │ ├── detectron2_ho_detector.py │ │ └── human_action_recognition_state_machine.py │ └── utils │ │ ├── __init__.py │ │ ├── conversions.py │ │ ├── data_frame.py │ │ ├── frame_rate_counter.py │ │ ├── generic_utils.py │ │ ├── image_utils.py │ │ ├── math_utils.py │ │ └── time_profiler.py └── setup.py ├── ros_tcp ├── README.md ├── install_ros_bridge_server.sh ├── ros_communication_client │ ├── __init__.py │ ├── ros_communications.py │ ├── ros_message_conveter.py │ └── ros_tcp.py ├── rosbridge_library │ ├── internal │ │ └── message_conversion.py │ └── protocol.py ├── rosbridge_server │ └── tcp_handler.py ├── rosbridge_tcp.launch ├── setup.py └── test_ros_communications.py ├── scripts └── run_hand_object_detector.sh ├── spot_rl_experiments ├── .gitignore ├── README.md ├── __init__.py ├── configs │ ├── cg_config.yaml │ ├── config.yaml │ ├── ros_frame_names.yaml │ └── ros_topic_names.yaml ├── experiments │ ├── comparisons │ │ ├── gaze_all_objects.py │ │ ├── multiple_gaze.py │ │ └── nav_compare.py │ └── skill_test │ │ ├── create_cleaner_json_file_with_selected_nodes.py │ │ ├── run_episode.py │ │ ├── skill_execution_with_benchmark.py │ │ ├── test_cons_sem_place.py │ │ ├── test_dynamic_yaw_nav.py │ │ ├── test_dynamic_yaw_nav_math_simulation.py │ │ ├── test_dynamicnav_pick_dynamicnav_place.py │ │ ├── test_heurisitic_gaze.py │ │ ├── test_mobile_gaze.py │ │ ├── test_mobile_gaze_ee.py │ │ ├── test_nav_path_planning_with_view_poses.py │ │ ├── test_nav_pick_nav_place_skills.py │ │ ├── test_open_close_cabinet.py │ │ ├── test_open_close_drawer.py │ │ ├── test_pick_with_force_control.py │ │ ├── test_pick_with_grasping_parameters.py │ │ ├── test_pick_with_pose.py │ │ ├── test_point_nav_with_view_poses_with_skill_executor.py │ │ ├── test_robot_view_poses.py │ │ ├── test_sem_place.py │ │ ├── test_sem_place_ee.py │ │ ├── test_skill_based_semantic_pick.py │ │ ├── test_static_place.py │ │ └── test_view_pose_based_nav_pick_nav_place.py ├── generate_executables.py ├── setup.py ├── spot_rl │ ├── baselines │ │ └── go_to_waypoint.py │ ├── envs │ │ ├── base_env.py │ │ ├── gaze_env.py │ │ ├── lang_env.py │ │ ├── lsc_demo.py │ │ ├── lsc_hitl.py │ │ ├── mobile_manipulation_env.py │ │ ├── nav_env.py │ │ ├── open_close_drawer_env.py │ │ ├── place_env.py │ │ └── skill_manager.py │ ├── examples │ │ ├── run_navigation.py │ │ ├── run_pick.py │ │ └── run_place.py │ ├── launch │ │ ├── core.sh │ │ ├── kill_sessions.sh │ │ ├── local_listener.sh │ │ └── local_only.sh │ ├── llm │ │ ├── .gitignore │ │ ├── README.md │ │ └── src │ │ │ ├── conf │ │ │ ├── config.yaml │ │ │ ├── llm │ │ │ │ └── openai.yaml │ │ │ └── prompt │ │ │ │ ├── rearrange_easy_few_shot.yaml │ │ │ │ └── rearrange_easy_zero_shot.yaml │ │ │ ├── llama3_local_api.py │ │ │ ├── notebook.ipynb │ │ │ └── rearrange_llm.py │ ├── models │ │ ├── __init__.py │ │ ├── owlvit.py │ │ ├── sentence_similarity.py │ │ └── yolov8predictor.py │ ├── real_policy.py │ ├── ros_img_vis.py │ ├── skills │ │ ├── README.md │ │ └── atomic_skills.py │ ├── spot_ros_node.py │ └── utils │ │ ├── a_star.py │ │ ├── autodock.py │ │ ├── collision_detector.py │ │ ├── compute_waypoint_cache.py │ │ ├── construct_configs.py │ │ ├── create_tree_from_cg_object_nodes.py │ │ ├── depth_map_utils.py │ │ ├── detection_service.py │ │ ├── generate_place_goal.py │ │ ├── geometry_utils.py │ │ ├── grasp_affordance_prediction.py │ │ ├── gripper_t_intel_path.py │ │ ├── helper_nodes.py │ │ ├── heuristic_nav.py │ │ ├── img_publishers.py │ │ ├── json_helpers.py │ │ ├── mask_rcnn_utils.py │ │ ├── occupancy_grid.py │ │ ├── parse_logs_csv.py │ │ ├── path_planning.py │ │ ├── pixel_to_3d_conversion_utils.py │ │ ├── plane_detection.py │ │ ├── pose_estimation.py │ │ ├── remote_spot.py │ │ ├── remote_spot_listener.py │ │ ├── retrieve_robot_poses_from_cg.py │ │ ├── robot_subscriber.py │ │ ├── rospy_light_detection.py │ │ ├── run_local_parallel_inference.py │ │ ├── run_parallel_inference.py │ │ ├── search_table_location.py │ │ ├── segmentation_service.py │ │ ├── skill_executor.py │ │ ├── spot_rl_launch_local.py │ │ ├── stopwatch.py │ │ ├── stub_skills.py │ │ ├── tracking_service.py │ │ ├── utils.py │ │ ├── waypoint_estimation_based_on_robot_poses_from_cg.py │ │ ├── waypoint_recorder.py │ │ ├── whisper_translator.py │ │ └── yolo_world_service.py └── utils │ ├── README.md │ ├── cparamopenclosedrawer.yaml │ ├── cparamsmobilegaze.yaml │ ├── cparamsmobilegazeee.yaml │ ├── cparamsnav.yaml │ ├── cparamsplace.yaml │ ├── cparamssemanticplace.yaml │ ├── cparamssemanticplaceee.yaml │ ├── cparamsssemanticmobilegaze.yaml │ ├── cparamsstaticgaze.yaml │ └── pytorch_to_torchscript.py └── tests └── hardware_tests ├── configs ├── config.yaml └── waypoints.yaml ├── data └── nav_trajectories │ └── square_of_side_200cm │ ├── nav_Jul-20-2023_1154.json │ ├── nav_Jul-20-2023_1156.json │ ├── nav_Jul-20-2023_1158.json │ ├── nav_Jul-20-2023_1206.json │ ├── nav_Jul-20-2023_1208.json │ ├── nav_Jul-20-2023_1210.json │ ├── nav_Jul-20-2023_1212.json │ ├── nav_Jul-20-2023_1215.json │ ├── nav_Jul-20-2023_1217.json │ ├── nav_Jul-20-2023_1220.json │ ├── nav_Jul-20-2023_1221.json │ ├── nav_Jul-20-2023_1224.json │ ├── nav_Jul-20-2023_1226.json │ ├── nav_Jul-20-2023_1228.json │ └── nav_Jul-20-2023_1230.json ├── test_gaze_env.py ├── test_nav_env.py └── test_place_env.py /.flake8: -------------------------------------------------------------------------------- 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