├── .github └── workflows │ ├── deploy_modal.yml │ ├── mypy_tests.yml │ ├── publish.yml │ └── pytest_tests.yml ├── .gitignore ├── .gitmodules ├── ADDING_LEROBOT_MODELS.md ├── CONTRIBUTING.md ├── LICENSE ├── Makefile ├── README.md ├── cloud └── frontend │ ├── .gitignore │ ├── README.md │ ├── app │ ├── api │ │ ├── auth │ │ │ ├── signup │ │ │ │ └── route.ts │ │ │ └── verify-email-token │ │ │ │ └── route.ts │ │ └── checkout_sessions │ │ │ └── route.ts │ ├── auth │ │ ├── confirm-code │ │ │ └── page.tsx │ │ ├── error │ │ │ └── page.tsx │ │ ├── forgot-password │ │ │ └── page.tsx │ │ ├── login │ │ │ └── page.tsx │ │ ├── sign-up │ │ │ └── page.tsx │ │ └── update-password │ │ │ └── page.tsx │ ├── favicon.ico │ ├── globals.css │ ├── layout.tsx │ ├── opengraph-image.png │ ├── page.tsx │ └── twitter-image.png │ ├── components.json │ ├── components │ ├── auth-button.tsx │ ├── deploy-button.tsx │ ├── env-var-warning.tsx │ ├── forgot-password-form.tsx │ ├── login-form.tsx │ ├── logout-button.tsx │ ├── sections │ │ ├── comparison-table.tsx │ │ ├── faq.tsx │ │ ├── final-cta.tsx │ │ ├── header.tsx │ │ ├── hero.tsx │ │ ├── pricing-card.tsx │ │ └── subscribe-button.tsx │ ├── sign-up-form.tsx │ ├── theme-switcher.tsx │ ├── tutorial │ │ ├── code-block.tsx │ │ ├── connect-supabase-steps.tsx │ │ ├── fetch-data-steps.tsx │ │ ├── sign-up-user-steps.tsx │ │ └── tutorial-step.tsx │ ├── ui │ │ ├── badge.tsx │ │ ├── button.tsx │ │ ├── card.tsx │ │ ├── checkbox.tsx │ │ ├── dropdown-menu.tsx │ │ ├── input.tsx │ │ └── label.tsx │ └── update-password-form.tsx │ ├── eslint.config.mjs │ ├── lib │ ├── stripe.ts │ ├── supabase │ │ ├── client.ts │ │ ├── middleware.ts │ │ └── server.ts │ └── utils.ts │ ├── middleware.ts │ ├── next.config.ts │ ├── package-lock.json │ ├── package.json │ ├── postcss.config.mjs │ ├── tailwind.config.ts │ └── tsconfig.json ├── dashboard ├── .gitignore ├── .prettierrc ├── README.md ├── components.json ├── eslint.config.js ├── index.html ├── package-lock.json ├── package.json ├── src │ ├── App.css │ ├── App.tsx │ ├── assets │ │ ├── CalibrationPosition1.jpg │ │ ├── CalibrationPosition2.jpg │ │ ├── ConnectBot.jpg │ │ ├── ControlSchema.jpg │ │ └── placeholder.svg │ ├── components │ │ ├── callout │ │ │ ├── phospho-pro.tsx │ │ │ └── phospho-vr.tsx │ │ ├── common │ │ │ ├── add-robot-connection.tsx │ │ │ ├── add-zmq-camera-modal.tsx │ │ │ ├── ai-control-disclaimer.tsx │ │ │ ├── app-sidebar.tsx │ │ │ ├── autocomplete.tsx │ │ │ ├── camera-mapping-selector.tsx │ │ │ ├── camera-selector.tsx │ │ │ ├── camera-stream-card.tsx │ │ │ ├── code-snippet.tsx │ │ │ ├── copy-button.tsx │ │ │ ├── error.tsx │ │ │ ├── huggingface-key.tsx │ │ │ ├── loading.tsx │ │ │ ├── mobile-menu.tsx │ │ │ ├── modal.tsx │ │ │ ├── recorder.tsx │ │ │ ├── robot-status-button.tsx │ │ │ ├── speed-select.tsx │ │ │ ├── supabase-db.tsx │ │ │ ├── temperature.tsx │ │ │ └── wandb-key.tsx │ │ ├── custom │ │ │ ├── Feedback.tsx │ │ │ ├── LogsStream.tsx │ │ │ └── ModelsTable.tsx │ │ ├── layout │ │ │ ├── footer.tsx │ │ │ ├── layout.tsx │ │ │ ├── sidebar.tsx │ │ │ └── topbar.tsx │ │ └── ui │ │ │ ├── accordion.tsx │ │ │ ├── alert-dialog.tsx │ │ │ ├── alert.tsx │ │ │ ├── avatar.tsx │ │ │ ├── badge.tsx │ │ │ ├── breadcrumb.tsx │ │ │ ├── button.tsx │ │ │ ├── card.tsx │ │ │ ├── chart.tsx │ │ │ ├── checkbox.tsx │ │ │ ├── command.tsx │ │ │ ├── dialog.tsx │ │ │ ├── dropdown-menu.tsx │ │ │ ├── input.tsx │ │ │ ├── label.tsx │ │ │ ├── pagination.tsx │ │ │ ├── popover.tsx │ │ │ ├── progress.tsx │ │ │ ├── radio-group.tsx │ │ │ ├── select.tsx │ │ │ ├── separator.tsx │ │ │ ├── sheet.tsx │ │ │ ├── sidebar.tsx │ │ │ ├── skeleton.tsx │ │ │ ├── slider.tsx │ │ │ ├── sonner.tsx │ │ │ ├── switch.tsx │ │ │ ├── table.tsx │ │ │ ├── tabs.tsx │ │ │ ├── textarea.tsx │ │ │ ├── theme-toggle.tsx │ │ │ ├── toggle-group.tsx │ │ │ ├── toggle.tsx │ │ │ └── tooltip.tsx │ ├── context │ │ └── AuthContext.tsx │ ├── hooks │ │ └── use-mobile.ts │ ├── index.css │ ├── lib │ │ ├── hooks.ts │ │ └── utils.ts │ ├── main.tsx │ ├── pages │ │ ├── AIControlPage.tsx │ │ ├── AITrainingPage.tsx │ │ ├── AdminSettingsPage.tsx │ │ ├── BrowsePage.tsx │ │ ├── DashboardPage.tsx │ │ ├── NetworkPage.tsx │ │ ├── ViewVideoPage.tsx │ │ ├── auth │ │ │ ├── AuthForm.tsx │ │ │ ├── ConfirmCode.tsx │ │ │ ├── ConfirmEmail.tsx │ │ │ ├── ForgotPassword.tsx │ │ │ ├── ProtectedRoute.tsx │ │ │ └── ResetPassword.tsx │ │ ├── calibration │ │ │ ├── CalibrationPage.tsx │ │ │ ├── calibration-sequence.tsx │ │ │ └── joint-control.tsx │ │ └── control │ │ │ ├── ControlPage.tsx │ │ │ ├── GamepadComponents.tsx │ │ │ ├── GamepadControlPage.tsx │ │ │ ├── GamepadUtils.ts │ │ │ ├── KeyboardControlPage.tsx │ │ │ ├── LeaderArmControlPage.tsx │ │ │ ├── SingleArmReplayPage.tsx │ │ │ └── VRControlPage.tsx │ ├── types.ts │ └── vite-env.d.ts ├── tsconfig.app.json ├── tsconfig.json ├── tsconfig.node.json └── vite.config.ts ├── dataset-viewer ├── .gitignore ├── README.md ├── eslint.config.mjs ├── next.config.ts ├── package-lock.json ├── package.json ├── postcss.config.mjs ├── src │ ├── app │ │ ├── [org] │ │ │ └── [dataset] │ │ │ │ ├── [episode] │ │ │ │ ├── episode-viewer.tsx │ │ │ │ ├── error.tsx │ │ │ │ ├── fetch-data.ts │ │ │ │ └── page.tsx │ │ │ │ └── page.tsx │ │ ├── explore │ │ │ ├── explore-grid.tsx │ │ │ └── page.tsx │ │ ├── favicon.ico │ │ ├── globals.css │ │ ├── layout.tsx │ │ └── page.tsx │ ├── components │ │ ├── data-recharts.tsx │ │ ├── loading-component.tsx │ │ ├── playback-bar.tsx │ │ ├── side-nav.tsx │ │ └── videos-player.tsx │ ├── context │ │ └── time-context.tsx │ └── utils │ │ ├── debounce.ts │ │ ├── parquetUtils.ts │ │ ├── pick.ts │ │ └── postParentMessage.ts └── tsconfig.json ├── examples ├── 00-moove-in-circles │ ├── README.md │ ├── circles_absolute.py │ └── requirements.txt ├── 01-move-in-relative-squares │ ├── README.md │ ├── requirements.txt │ └── square_relative.py ├── 02-control-with-keyboard │ ├── README.md │ ├── crane.py │ └── requirements.txt ├── 03-simple-voice-command │ ├── README.md │ ├── requirements.txt │ └── voice_command.py ├── 04-advanced-voice-command │ ├── .gitignore │ ├── README.md │ ├── backend │ │ ├── __init__.py │ │ ├── modules │ │ │ ├── llm.py │ │ │ ├── mic.py │ │ │ ├── tts.py │ │ │ ├── whisper_transcriber.py │ │ │ └── whisper_transcriber_fr.py │ │ ├── prompts │ │ │ ├── prompt_compact.txt │ │ │ └── system_prompt.txt │ │ ├── requirements.txt │ │ ├── shared_state.json │ │ ├── ws_server_ACT.py │ │ ├── ws_server_Gr00t.py │ │ └── ws_server_replay.py │ ├── executor_test.py │ ├── frontend-demo-AI │ │ ├── .gitignore │ │ ├── README.md │ │ ├── app │ │ │ ├── favicon.ico │ │ │ ├── globals.css │ │ │ ├── layout.tsx │ │ │ └── page.tsx │ │ ├── next.config.mjs │ │ ├── package-lock.json │ │ ├── package.json │ │ ├── postcss.config.mjs │ │ ├── public │ │ │ ├── bender_head.png │ │ │ ├── bender_talking.png │ │ │ ├── file.svg │ │ │ ├── globe.svg │ │ │ ├── next.svg │ │ │ ├── phospho-logo.png │ │ │ ├── vercel.svg │ │ │ └── window.svg │ │ ├── shared_state.json │ │ └── tsconfig.json │ ├── llm_test.py │ └── llm_voice_test.py ├── 05-hand-tracking │ ├── README.md │ ├── hand_tracking.py │ └── requirements.txt ├── 06-wave-back │ ├── README.md │ ├── requirements.txt │ └── wave_hand.py ├── 07-play-rock-paper-scissors │ ├── README.md │ ├── requirements.txt │ └── rock_paper_scissors.py ├── 08-mujoco-simulation │ ├── README.md │ ├── assets │ │ ├── Base.stl │ │ ├── Base_Motor.stl │ │ ├── Fixed_Jaw.stl │ │ ├── Fixed_Jaw_Collision_1.stl │ │ ├── Fixed_Jaw_Collision_2.stl │ │ ├── Fixed_Jaw_Motor.stl │ │ ├── Lower_Arm.stl │ │ ├── Lower_Arm_Motor.stl │ │ ├── Moving_Jaw.stl │ │ ├── Moving_Jaw_Collision_1.stl │ │ ├── Moving_Jaw_Collision_2.stl │ │ ├── Moving_Jaw_Collision_3.stl │ │ ├── Rotation_Pitch.stl │ │ ├── Rotation_Pitch_Motor.stl │ │ ├── Upper_Arm.stl │ │ ├── Upper_Arm_Motor.stl │ │ ├── Wrist_Pitch_Roll.stl │ │ ├── Wrist_Pitch_Roll_Motor.stl │ │ └── banana.stl │ ├── main.py │ ├── requirements.txt │ ├── so100_arm.xml │ └── so100_simulation.py ├── 09-ai-kinematics │ ├── README.md │ ├── aruco-0.svg │ ├── main.py │ ├── requirements.txt │ ├── rgbd_feed.py │ └── vision_analyzer.py └── README.md ├── inference ├── ACT │ ├── client.py │ └── server.py ├── README.md ├── gr00t │ ├── client.py │ └── server.py └── pi0 │ └── client.py ├── install.ps1 ├── install.sh ├── modal ├── Makefile ├── README.md ├── admin │ ├── __init__.py │ └── src │ │ ├── app.py │ │ └── chat.py ├── gr00t │ ├── __init__.py │ └── src │ │ ├── __init__.py │ │ ├── app.py │ │ └── helper.py ├── lerobot_modal │ ├── __init__.py │ ├── act.py │ ├── app.py │ ├── conversion_service.py │ ├── helper.py │ └── smolvla.py ├── paligemma │ ├── __init__.py │ └── app.py ├── pi05 │ ├── Dockerfile │ ├── __init__.py │ └── app.py ├── pyproject.toml ├── tests │ ├── test_conversion.py │ └── test_paligemma.py └── vllm │ ├── __init__.py │ └── app.py ├── phosphobot ├── .gitignore ├── MANIFEST.in ├── README.md ├── hooks │ └── hook-go2_webrtc_driver.py ├── phosphobot │ ├── __init__.py │ ├── _version.py │ ├── ai_control.py │ ├── am │ │ ├── __init__.py │ │ ├── act.py │ │ ├── base.py │ │ ├── gr00t.py │ │ ├── lerobot.py │ │ ├── pi05.py │ │ └── smolvla.py │ ├── app.py │ ├── camera.py │ ├── chat │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── app.py │ │ └── utils.py │ ├── configs.py │ ├── control_signal.py │ ├── endpoints │ │ ├── __init__.py │ │ ├── auth.py │ │ ├── camera.py │ │ ├── chat.py │ │ ├── control.py │ │ ├── networking.py │ │ ├── pages.py │ │ ├── recording.py │ │ ├── training.py │ │ └── update.py │ ├── hardware │ │ ├── __init__.py │ │ ├── base.py │ │ ├── go2.py │ │ ├── koch11.py │ │ ├── lekiwi.py │ │ ├── motors │ │ │ ├── __init__.py │ │ │ ├── dynamixel.py │ │ │ ├── feetech.py │ │ │ └── motor_utils.py │ │ ├── phosphobot.py │ │ ├── piper.py │ │ ├── sim.py │ │ ├── so100.py │ │ ├── urdfloader.py │ │ └── wx250s.py │ ├── leader_follower.py │ ├── main.py │ ├── models │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── dataset.py │ │ ├── lerobot_dataset.py │ │ └── robot.py │ ├── posthog.py │ ├── py.typed │ ├── recorder.py │ ├── rerun_visualizer.py │ ├── robot.py │ ├── sentry.py │ ├── supabase.py │ ├── teleoperation.py │ ├── types.py │ └── utils.py ├── pyproject.toml ├── resources │ ├── .gitignore │ ├── agilex_can_activate.sh │ ├── calibration │ │ ├── koch-v1.1_58CD176940_config.json │ │ ├── so-100_12V_config.json │ │ ├── so-100_58CD176683_config.json │ │ ├── so-100_58FA081789_config.json │ │ ├── so-100_58FA082637_config.json │ │ ├── so-100_58FD016236_config.json │ │ ├── so-100_58FD016588_config.json │ │ ├── so-100_58FD017139_config.json │ │ ├── so-100_58FD017230_config.json │ │ ├── so-100_58FD017238_config.json │ │ ├── so-100_6V_config.json │ │ └── wx-250s_FT94W6U7_config.json │ ├── default │ │ ├── koch-v1.1-6V.json │ │ ├── so-100-12V.json │ │ ├── so-100-6V.json │ │ ├── so-100-leader-12V.json │ │ ├── so-100-leader-6V.json │ │ └── wx-250s-12V.json │ ├── swagger-ui │ │ ├── favicon.png │ │ ├── swagger-ui-bundle.js │ │ └── swagger-ui.css │ ├── tokens.toml │ └── urdf │ │ ├── excavator │ │ └── simple.urdf │ │ ├── koch │ │ ├── arm_connector.part │ │ ├── arm_connector.stl │ │ ├── base.part │ │ ├── base.stl │ │ ├── config.json │ │ ├── connector.part │ │ ├── connector.stl │ │ ├── dc11_a01_dummy.part │ │ ├── dc11_a01_dummy.stl │ │ ├── dc11_a01_spacer_dummy.part │ │ ├── dc11_a01_spacer_dummy.stl │ │ ├── dc15_a01_case_b_dummy.part │ │ ├── dc15_a01_case_b_dummy.stl │ │ ├── dc15_a01_case_f_dummy.part │ │ ├── dc15_a01_case_f_dummy.stl │ │ ├── dc15_a01_case_m_dummy.part │ │ ├── dc15_a01_case_m_dummy.stl │ │ ├── dc15_a01_horn_dummy.part │ │ ├── dc15_a01_horn_dummy.stl │ │ ├── dc15_a01_horn_idle2_dummy.part │ │ ├── dc15_a01_horn_idle2_dummy.stl │ │ ├── moving_side.part │ │ ├── moving_side.stl │ │ ├── robot.urdf │ │ ├── robot.xml │ │ ├── rotation_connector.part │ │ ├── rotation_connector.stl │ │ ├── scene.xml │ │ ├── shoulder_rotation.part │ │ ├── shoulder_rotation.stl │ │ ├── static_side.part │ │ └── static_side.stl │ │ ├── piper │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.dae │ │ │ ├── link1.STL │ │ │ ├── link1.dae │ │ │ ├── link2.STL │ │ │ ├── link2.dae │ │ │ ├── link3.STL │ │ │ ├── link3.dae │ │ │ ├── link4.STL │ │ │ ├── link4.dae │ │ │ ├── link5.STL │ │ │ ├── link5.dae │ │ │ ├── link6.STL │ │ │ ├── link6.dae │ │ │ ├── link6_1.STL │ │ │ ├── link7.STL │ │ │ ├── link7.dae │ │ │ ├── link8.STL │ │ │ └── link8.dae │ │ └── urdf │ │ │ ├── piper.urdf │ │ │ └── piper_description.csv │ │ ├── plane │ │ ├── plane.mtl │ │ ├── plane.obj │ │ └── plane.urdf │ │ ├── so-100 │ │ ├── meshes │ │ │ ├── Base.STL │ │ │ ├── Fixed_Jaw.STL │ │ │ ├── Lower_Arm.STL │ │ │ ├── Moving Jaw.STL │ │ │ ├── Rotation_Pitch.STL │ │ │ ├── Upper_Arm.STL │ │ │ └── Wrist_Pitch_Roll.STL │ │ └── urdf │ │ │ └── so-100.urdf │ │ └── wx-250s │ │ ├── meshes │ │ ├── wx250s_10_gripper_finger.stl │ │ ├── wx250s_11_ar_tag.stl │ │ ├── wx250s_1_base.stl │ │ ├── wx250s_2_shoulder.stl │ │ ├── wx250s_3_upper_arm.stl │ │ ├── wx250s_4_upper_forearm.stl │ │ ├── wx250s_5_lower_forearm.stl │ │ ├── wx250s_6_wrist.stl │ │ ├── wx250s_7_gripper.stl │ │ ├── wx250s_8_gripper_prop.stl │ │ └── wx250s_9_gripper_bar.stl │ │ └── urdf │ │ ├── quaternion.ipynb │ │ └── wx250s.urdf └── tests │ ├── api │ ├── .gitignore │ ├── summarize.py │ ├── test_api.py │ ├── test_rerun.py │ └── test_websocket.py │ ├── phosphobot │ ├── test_SO100.py │ ├── test_base_manipulator.py │ └── test_koch.py │ ├── realsense │ ├── README.md │ └── display_video_and_depth.py │ ├── test_identify_cameras.html │ ├── udp_client.py │ └── utils.py ├── scripts ├── datasets │ ├── README.md │ ├── lerobot_stats_compute.py │ ├── push_dataset_to_hf.py │ ├── pyproject.toml │ ├── remove_duplicate_arms.py │ └── repair_dataset.py ├── feetech │ ├── README.md │ ├── configure_motor.py │ ├── feetech.py │ ├── find_motor_bus.py │ ├── motor_utils.py │ └── pyproject.toml ├── gr00t │ ├── serve.py │ └── train.py ├── quickstart_ai.py ├── quickstart_ai_gr00t.py └── quickstart_ai_pi0.py ├── simulation └── pybullet │ ├── .python-version │ ├── README.md │ ├── main.py │ └── 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