├── .gitignore ├── Makefile ├── README.md ├── assets ├── hardware_setup.png ├── pipeline.png ├── tasks_primitives.png └── teaser.png ├── common ├── __init__.py ├── datamodels.py ├── drawing_utils.py ├── experiment_base.py ├── geometry_util.py ├── logging_utils.py ├── metric_utils.py ├── mutiprocess_utils.py ├── notification.py ├── pcd_utils.py ├── registry.py ├── space_util.py ├── statemachine.py ├── train_util.py ├── utils.py └── visualization_util.py ├── config ├── base │ └── inference.yaml ├── camera_param │ ├── file_camera.yaml │ ├── mechmind_camera.yaml │ ├── phoxi_camera_with_rgb.yaml │ ├── phoxi_camera_with_rgb_web.yaml │ └── phoxi_camera_without_rgb.yaml ├── experiment_logger.yaml ├── finetune_experiment │ ├── camera_param │ ├── experiment_finetune_base.yaml │ ├── experiment_finetune_nut.yaml │ ├── experiment_finetune_rope.yaml │ ├── experiment_finetune_tshirt_short.yaml │ ├── train_finetune_base.yaml │ ├── train_finetune_nut_real.yaml │ ├── train_finetune_reward_prediction_nut_real.yaml │ ├── train_finetune_reward_prediction_rope_real.yaml │ ├── train_finetune_reward_prediction_tshirt_short_real.yaml │ ├── train_finetune_rope_real.yaml │ └── train_finetune_tshirt_short_real.yaml └── supervised_experiment │ ├── camera_param │ ├── experiment_supervised_base.yaml │ ├── experiment_supervised_nut.yaml │ ├── experiment_supervised_rope.yaml │ ├── experiment_supervised_tshirt_short.yaml │ ├── train_supervised_base.yaml │ ├── train_supervised_nut_real.yaml │ ├── train_supervised_rope_real.yaml │ ├── train_supervised_tshirt_short_real.yaml │ ├── train_supervised_tshirt_short_real_classification_detection.yaml │ └── train_supervised_tshirt_short_vr.yaml ├── controller ├── atom_controller.py ├── configs │ ├── config.py │ └── error_config.py ├── controller.py └── robot_actuator.py ├── learning ├── __init__.py ├── components │ ├── loss.py │ └── mlp.py ├── datasets │ ├── __init__.py │ ├── augmentation_v3.py │ ├── data_util.py │ ├── imitation_dataset.py │ ├── runtime_dataset_real.py │ └── weighted_sampler.py ├── inference_3d.py └── net │ ├── __init__.py │ ├── attentionnet.py │ ├── common.py │ ├── layers.py │ ├── multihead_attention.py │ ├── multihead_relative_attention.py │ ├── pointnet.py │ ├── position_encodings.py │ ├── primitive_diffusion.py │ ├── residual_block.py │ ├── resunet.py │ └── transformer.py ├── manifests └── calibration │ ├── poses_left_v.txt │ ├── poses_left_w.txt │ ├── poses_right_v.txt │ └── poses_right_w.txt ├── manipulation ├── executable_checker.py ├── experiment_real.py ├── grasp_checker.py └── statemachine_object.py ├── requirements.txt ├── run.py ├── setup-env.sh ├── test.py ├── third_party ├── __init__.py ├── file_camera │ ├── __init__.py │ └── file_camera.py ├── grounded_sam │ └── grounded_sam.py ├── mech_camera │ ├── __init__.py │ ├── cam_base.py │ ├── cam_mecheye.py │ ├── camera_utils.py │ ├── configs │ │ └── camera_config.json │ ├── error_config.py │ ├── mechmind_camera_wrapper.py │ └── test_mecheye │ │ └── test_mecheye.py ├── mvcam │ ├── __init__.py │ ├── record_worker.py │ └── vcamera.py ├── phoxi │ ├── __init__.py │ ├── phoxi_camera.py │ ├── phoxi_camera_web_client.py │ └── phoxi_camera_web_server.py └── realsense │ └── realsense_camera.py ├── tools ├── calculate metrics_general.py ├── capture_canonical_general.py ├── data_management │ ├── .gitignore │ ├── Makefile │ ├── README.md │ ├── manifests │ │ ├── configs │ │ │ ├── backend.yaml │ │ │ ├── config.yaml │ │ │ ├── frontend.yaml │ │ │ └── watcher.yaml │ │ └── docker │ │ │ ├── backend │ │ │ ├── Dockerfile │ │ │ └── docker-compose.yaml │ │ │ └── watcher │ │ │ ├── Dockerfile │ │ │ └── docker-compose.yaml │ ├── requirements.txt │ ├── src │ │ ├── __init__.py │ │ ├── backend │ │ │ ├── __init__.py │ │ │ ├── __main__.py │ │ │ ├── controller.py │ │ │ └── server.py │ │ ├── client │ │ │ ├── __init__.py │ │ │ ├── api │ │ │ │ ├── __init__.py │ │ │ │ └── default │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── get_log_stream_v1_log_stream_get.py │ │ │ │ │ ├── get_logs_v1_logs_get.py │ │ │ │ │ ├── root_get.py │ │ │ │ │ └── upload_logs_v1_logs_upload_post.py │ │ │ ├── client.py │ │ │ ├── errors.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── data_point.py │ │ │ │ ├── data_point_annotations.py │ │ │ │ ├── data_point_annotations_additional_property.py │ │ │ │ ├── data_point_metadata.py │ │ │ │ ├── http_validation_error.py │ │ │ │ ├── log_request.py │ │ │ │ ├── log_request_extra_filter.py │ │ │ │ └── validation_error.py │ │ │ ├── py.typed │ │ │ └── types.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── config.py │ │ │ ├── datamodels.py │ │ │ └── utils.py │ │ └── watcher │ │ │ ├── __init__.py │ │ │ ├── __main__.py │ │ │ └── server.py │ ├── tests │ │ ├── test_backend.py │ │ ├── test_filter.py │ │ ├── test_mongodb.py │ │ ├── test_read_config.py │ │ └── test_stream_api.py │ └── tools │ │ └── add_tag.py ├── debug_controller.py ├── external_cam_cali.py ├── find_calibration_transform_flexiv.py 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