├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── franka_server ├── CMakeLists.txt ├── build.sh ├── deploy.md ├── include │ └── examples_common.h └── src │ ├── examples_common.cpp │ └── franka_server.cpp ├── franka_xhand_teleoperator ├── include │ ├── geofik.h │ └── weighted_ik.h ├── pyproject.toml ├── setup.py └── src │ ├── geofik.cpp │ ├── vr_message_router.cpp │ ├── weighted_ik.cpp │ └── weighted_ik_bridge.cpp ├── scripts ├── README.md ├── dual_robot │ ├── README.md │ ├── dual_robot_deploy_act.py │ ├── dual_robot_deploy_dp.py │ ├── dual_robot_replay.py │ ├── dual_vr_record.py │ ├── dual_vr_teleoperator.py │ ├── train_act_policy.py │ └── train_dp_policy.py ├── franka_fer │ ├── deploy_policy.sh │ ├── franka_vr_teleoperator.py │ ├── replay_franka.sh │ ├── train_act_policy.sh │ └── train_dp_policy.sh └── xhand │ ├── deploy_policy.sh │ ├── replay_xhand.sh │ ├── train_act_policy.sh │ ├── train_dp_policy.sh │ └── xhand_vr_teleoperator.py └── src └── lerobot ├── robots ├── __init__.py ├── franka_fer │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-312.pyc │ │ ├── franka_fer.cpython-312.pyc │ │ └── franka_fer_config.cpython-312.pyc │ ├── franka_fer.py │ └── franka_fer_config.py ├── franka_fer_xhand │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-312.pyc │ │ ├── franka_fer_xhand.cpython-312.pyc │ │ ├── franka_fer_xhand_config.cpython-312.pyc │ │ ├── franka_fer_xhand_config_simple.cpython-312.pyc │ │ └── franka_fer_xhand_simple.cpython-312.pyc │ ├── franka_fer_xhand.py │ └── franka_fer_xhand_config.py ├── utils.py └── xhand │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-312.pyc │ ├── teleoperator.cpython-312.pyc │ ├── xhand.cpython-312.pyc │ └── xhand_config.cpython-312.pyc │ ├── xhand.py │ └── xhand_config.py ├── scripts ├── __pycache__ │ ├── eval.cpython-312.pyc │ ├── train.cpython-312.pyc │ └── visualize_dataset.cpython-312.pyc ├── display_sys_info.py ├── eval.py ├── find_joint_limits.py ├── rl │ ├── actor.py │ ├── crop_dataset_roi.py │ ├── eval_policy.py │ ├── gym_manipulator.py │ ├── learner.py │ └── learner_service.py ├── server │ ├── __pycache__ │ │ ├── configs.cpython-312.pyc │ │ ├── constants.cpython-312.pyc │ │ ├── helpers.cpython-312.pyc │ │ ├── policy_server.cpython-312.pyc │ │ └── robot_client.cpython-312.pyc │ ├── configs.py │ ├── constants.py │ ├── helpers.py │ ├── policy_server.py │ └── robot_client.py ├── train.py ├── visualize_dataset.py ├── visualize_dataset_html.py └── visualize_image_transforms.py └── teleoperators ├── __init__.py ├── adb_setup.py ├── franka_fer_vr ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-312.pyc │ ├── arm_ik_processor.cpython-312.pyc │ ├── config_franka_fer_vr.cpython-312.pyc │ └── franka_fer_vr_teleoperator.cpython-312.pyc ├── arm_ik_processor.py ├── config_franka_fer_vr.py └── franka_fer_vr_teleoperator.py ├── franka_fer_xhand_vr ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-312.pyc │ ├── config_franka_fer_xhand_vr.cpython-312.pyc │ └── 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