├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md ├── generic_convert.py ├── ros2_convert.py ├── ros2_ws └── src │ ├── robot_controller │ ├── package.xml │ ├── resource │ │ └── robot_controller │ ├── robot_controller │ │ ├── __init__.py │ │ └── robot_controller_node.py │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── so_5dof_arm100 │ ├── CMakeLists.txt │ ├── meshes │ │ ├── Base.STL │ │ ├── Fixed_Gripper.STL │ │ ├── Lower_Arm.STL │ │ ├── Moving_Jaw.STL │ │ ├── Shoulder_Rotation_Pitch.STL │ │ ├── Upper_Arm.STL │ │ └── Wrist_Pitch_Roll.STL │ ├── package.xml │ └── urdf │ │ ├── so_5dof_arm100.csv │ │ └── so_5dof_arm100.urdf │ └── so_arm100_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── initial_positions.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── moveit.rviz │ ├── moveit_controllers.yaml │ ├── pilz_cartesian_limits.yaml │ ├── ros2_controllers.yaml │ ├── so_5dof_arm100.ros2_control.xacro │ ├── so_5dof_arm100.srdf │ └── so_5dof_arm100.urdf.xacro │ ├── launch │ ├── demo.launch.py │ ├── move_group.launch.py │ ├── moveit_rviz.launch.py │ ├── rsp.launch.py │ ├── setup_assistant.launch.py │ ├── spawn_controllers.launch.py │ ├── static_virtual_joint_tfs.launch.py │ └── warehouse_db.launch.py │ └── package.xml └── suppliment_files ├── getting_started ├── 0_load_dataset.ipynb ├── 1_gr00t_inference.ipynb ├── 2_finetuning.ipynb ├── 3_new_embodiment_finetuning.ipynb ├── 4_deeper_understanding.md ├── 5_policy_deployment.md ├── LeRobot_compatible_data_schema.md └── examples │ ├── README.md │ ├── eval_gr00t_so100.py │ ├── so100__modality.json │ ├── tictac_bot.py │ ├── tictac_bot_setup.jpg │ └── unitree_g1_blocks__modality.json └── so_arm_100 └── urdf └── so_5dof_arm100 ├── CMakeLists.txt ├── meshes ├── Base.STL ├── Fixed_Gripper.STL ├── Lower_Arm.STL ├── Moving_Jaw.STL ├── 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