├── .devcontainer ├── Dockerfile ├── devcontainer.json └── repos_to_submodules.py ├── .github ├── actions │ ├── lint │ │ ├── action.yml │ │ └── run.sh │ └── test │ │ ├── action.yml │ │ └── run.sh ├── dependabot.yml └── workflows │ ├── docs.yaml │ └── ros.yaml ├── .gitignore ├── .gitmodules ├── .vscode ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── Frame_tree_GO1.pdf ├── LICENSE ├── README.md ├── devLog.md ├── frames_2025-02-27_15.24.22.pdf ├── go1_description ├── CMakeLists.txt ├── README.md ├── config │ └── go1.rviz ├── images │ └── go1_rviz.png ├── launch │ ├── load_go1.launch.py │ ├── simulate.launch.xml │ └── world.launch.xml ├── meshes │ ├── calf.dae │ ├── depthCamera.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ ├── trunk.dae │ └── ultraSound.dae ├── package.xml ├── urdf │ ├── go1.urdf │ └── go1_completely_cleaned.urdf └── xacro │ ├── const.xacro │ ├── depthCamera.xacro │ ├── gazebo.xacro │ ├── leg.xacro │ ├── materials.xacro │ ├── robot.xacro │ ├── transmission.xacro │ └── ultraSound.xacro ├── go2_description ├── CMakeLists.txt ├── README.md ├── config │ ├── go2.rviz │ ├── joint_names_go2_description.yaml │ └── robot_control.yaml ├── dae │ ├── base.dae │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── thigh.dae │ └── thigh_mirror.dae ├── images │ └── go2_rviz.png ├── launch │ ├── check_joint.rviz │ ├── gazebo.launch │ ├── go2_rviz.launch │ ├── load_go2.launch.py │ ├── simulate_go2.launch.xml │ └── world_go2.launch.xml ├── meshes │ ├── calf.dae │ ├── calf_mirror.dae │ ├── foot.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ └── trunk.dae ├── package.xml ├── urdf │ ├── Amended_collision_model.png │ ├── Normal_collision_model.png │ └── go2_description.urdf └── xacro │ ├── const.xacro │ ├── gazebo.xacro │ ├── leg.xacro │ ├── materials.xacro │ ├── robot.xacro │ └── transmission.xacro ├── go2_exploration ├── CMakeLists.txt ├── LICENSE ├── ReadMe.md ├── package.xml └── src │ └── explore.cpp ├── go2_exploration_interfaces ├── CMakeLists.txt ├── LICENSE ├── package.xml └── srv │ └── Empty.srv ├── images ├── GO1_Nav_first_run.mp4 ├── GO2_PointCloud.webm ├── buck_conv_soldered_go1.jpeg ├── go1.png ├── go1_high_lvl_results.mp4 ├── go1_rviz.png ├── go2.png ├── go2_High_lvl_results.mp4 ├── go2_rviz.png ├── indv_block.png ├── inital_pcl_go1.png ├── map_merging_base.png ├── mount_go1.jpeg ├── point_cloud_zed.png └── system_block.png ├── ros2_unitree_legged_msgs ├── CMakeLists.txt ├── msg │ ├── BmsCmd.msg │ ├── BmsState.msg │ ├── Cartesian.msg │ ├── HighCmd.msg │ ├── HighState.msg │ ├── IMU.msg │ ├── LED.msg │ ├── LowCmd.msg │ ├── LowState.msg │ ├── MotorCmd.msg │ └── MotorState.msg ├── package.xml └── srv │ └── Waypoint.srv ├── unitree_exploration ├── README.md ├── package.xml ├── resource │ └── unitree_exploration ├── setup.cfg ├── setup.py ├── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── unitree_exploration │ ├── __init__.py │ └── frontier_explorer.py ├── unitree_kinematics ├── CMakeLists.txt ├── README.md ├── include │ └── unitree_kinematics │ │ ├── geometry2d.hpp │ │ ├── kinematic_state.hpp │ │ ├── se2d.hpp │ │ └── svg.hpp ├── src │ ├── frame_main.cpp │ ├── geometry2d.cpp │ ├── kinematic_state.cpp │ ├── se2d.cpp │ └── svg.cpp ├── tests │ ├── test_geometry2d.cpp │ ├── test_kinematic_state.cpp │ ├── test_se2d.cpp │ └── test_svg.cpp └── tmp │ └── frames.svg ├── unitree_legged_real ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ ├── cmd_only.rviz │ ├── state_and_cmd.rviz │ ├── state_only.rviz │ ├── unitree_exploration.rviz │ ├── unitree_zed_nav.rviz │ └── zed_unitree.rviz ├── include │ └── convert.h ├── launch │ ├── high.launch.py │ ├── low.launch.py │ ├── unitree_exploration.launch.py │ ├── unitree_nav_zed.launch.py │ ├── unitree_zed.launch.py │ └── visualize.launch.py ├── package.xml ├── src │ ├── costmap_publisher.cpp │ ├── custom_gait.cpp │ ├── jsp_high.cpp │ ├── jsp_low.cpp │ ├── occupancy_grid_publisher.cpp │ ├── ros2_position_example.cpp │ ├── ros2_test.cpp │ ├── ros2_udp.cpp │ ├── ros2_walk_example.cpp │ ├── ros2_walk_experiments.cpp │ ├── udp_high.cpp │ ├── udp_low.cpp │ └── unitree_waypoint.cpp └── unitree_legged_sdk-master │ ├── CMakeLists.txt │ ├── ChangeLog.md │ ├── LICENSE │ ├── README.md │ ├── examples │ ├── example_position.cpp │ ├── example_torque.cpp │ ├── example_velocity.cpp │ ├── example_walk.cpp │ ├── example_wirelessHandle.cpp │ ├── lcm_server.cpp │ ├── multi_pc_type.h │ ├── multi_pc_udp_recv.cpp │ └── multi_pc_udp_send.cpp │ ├── include │ └── unitree_legged_sdk │ │ ├── a1_const.h │ │ ├── aliengo_const.h │ │ ├── comm.h │ │ ├── go1_const.h │ │ ├── joystick.h │ │ ├── lcm.h │ │ ├── lcm_server.h │ │ ├── loop.h │ │ ├── quadruped.h │ │ ├── safety.h │ │ ├── udp.h │ │ └── unitree_legged_sdk.h │ └── lib │ ├── libunitree_legged_sdk_amd64.so │ └── libunitree_legged_sdk_arm64.so └── unitree_nav ├── README.md ├── nav.repos ├── unitree_nav ├── 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