├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── robots ├── a1_description │ ├── CMakeLists.txt │ ├── config │ │ └── robot_control.yaml │ ├── launch │ │ ├── a1_rviz.launch │ │ └── check_joint.rviz │ ├── meshes │ │ ├── MTi_10.stl │ │ ├── calf.dae │ │ ├── d435.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_A1.png │ ├── package.xml │ ├── urdf │ │ ├── a1.urdf │ │ ├── a1_payload.urdf │ │ └── a1_scale100.urdf │ └── xacro │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ ├── stairs.xacro │ │ └── transmission.xacro ├── a1_imu_description │ ├── CMakeLists.txt │ ├── config │ │ └── robot_control.yaml │ ├── launch │ │ ├── a1_rviz.launch │ │ └── check_joint.rviz │ ├── meshes │ │ ├── MTi_10.stl │ │ ├── calf.dae │ │ ├── d435.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_A1.png │ ├── package.xml │ ├── urdf │ │ └── a1_imu.urdf │ └── xacro │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ ├── stairs.xacro │ │ └── transmission.xacro ├── a1_rw_description │ ├── CMakeLists.txt │ ├── config │ │ └── robot_control.yaml │ ├── launch │ │ ├── a1_rw_rviz.launch │ │ └── check_joint.rviz │ ├── meshes │ │ ├── base_link.STL │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── rwx.STL │ │ ├── rwy.STL │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_A1.png │ ├── package.xml │ ├── urdf │ │ ├── a1_rw.urdf │ │ └── a1_rw_0.urdf │ └── xacro │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ ├── stairs.xacro │ │ └── transmission.xacro ├── aliengo_description │ ├── CMakeLists.txt │ ├── config │ │ └── robot_control.yaml │ ├── launch │ │ ├── aliengo_rviz.launch │ │ └── check_joint.rviz │ ├── meshes │ │ ├── calf.dae │ │ ├── hip.dae │ │ ├── thigh.dae │ │ ├── thigh_mirror.dae │ │ ├── trunk.dae │ │ └── trunk_uv_base_final.png │ ├── package.xml │ └── xacro │ │ ├── aliengo.urdf │ │ ├── const.xacro │ │ ├── gazebo.xacro │ │ ├── leg.xacro │ │ ├── materials.xacro │ │ ├── robot.xacro │ │ ├── stairs.xacro │ │ └── transmission.xacro └── laikago_description │ ├── CMakeLists.txt │ ├── config │ └── robot_control.yaml │ ├── launch │ ├── check_joint.rviz │ └── laikago_rviz.launch │ ├── meshes │ ├── calf.dae │ ├── hip.dae │ ├── thigh.dae │ ├── thigh_mirror.dae │ └── trunk.dae │ ├── package.xml │ ├── urdf │ └── laikago.urdf │ └── xacro │ ├── const.xacro │ ├── gazebo.xacro │ ├── leg.xacro │ ├── materials.xacro │ ├── robot.xacro │ └── transmission.xacro ├── unitree_controller ├── CMakeLists.txt ├── include │ └── body.h ├── launch │ └── set_ctrl.launch ├── package.xml └── src │ ├── body.cpp │ ├── external_force.cpp │ ├── lowStatePub.cpp │ ├── move_onto_conveyor_publisher.cpp │ ├── move_publisher.cpp │ └── servo.cpp ├── unitree_gazebo ├── CMakeLists.txt ├── launch │ └── normal.launch ├── package.xml ├── plugin │ ├── draw_force_plugin.cc │ └── foot_contact_plugin.cc └── worlds │ ├── beam.world │ ├── building_editor_models │ └── stairs │ │ ├── model.config │ │ └── model.sdf │ ├── earth.world │ ├── slope.world │ ├── space.world │ ├── stairs.world │ ├── stairs_new.world │ ├── stairs_single.world │ └── wall.world ├── unitree_legged_control ├── CMakeLists.txt ├── include │ ├── joint_controller.h │ └── unitree_joint_control_tool.h ├── lib │ ├── libunitree_joint_control_tool.so │ └── libunitree_joint_control_tool_arm64.so ├── package.xml ├── src │ └── joint_controller.cpp └── unitree_controller_plugins.xml ├── unitree_legged_msgs ├── CMakeLists.txt ├── msg │ ├── Cartesian.msg │ ├── HighCmd.msg │ ├── HighState.msg │ ├── IMU.msg │ ├── LED.msg │ ├── LowCmd.msg │ ├── LowState.msg │ ├── LowStateStamped.msg │ ├── MotorCmd.msg │ ├── MotorState.msg │ └── TaskConfig.msg └── package.xml ├── unitree_legged_real ├── CMakeLists.txt ├── include │ ├── AOneData.hpp │ └── convert.h ├── ipconfig.sh ├── launch │ └── real.launch ├── package.xml ├── script │ ├── init_sim_env.jl │ ├── julia_robot_interface.jl │ ├── read_check_joint_angles.jl │ ├── ros_node_main.jl │ ├── simple_quad_model.jl │ ├── test_julia_swing_ctrl.jl │ ├── test_kinematics.jl │ ├── unitree.code-workspace │ └── utils.jl └── src │ ├── exe │ ├── position_mode.cpp │ ├── test.cpp │ ├── torque_mode.cpp │ ├── velocity_mode.cpp │ └── walk_mode.cpp │ └── julia │ └── julia_interface.cpp └── unitree_matlab_sim ├── Jb.m ├── controller.m ├── dJb.m ├── derive_dynamics.m ├── fk.m ├── hermite_cubic_knot.m ├── hermite_cubic_traj.m ├── kinematics.m ├── leg.slx ├── leg.slxc ├── mr ├── Adjoint.m ├── AxisAng3.m ├── AxisAng6.m ├── CartesianTrajectory.m ├── ComputedTorque.m ├── CubicTimeScaling.m ├── DistanceToSE3.m ├── DistanceToSO3.m ├── EndEffectorForces.m ├── EulerStep.m ├── FKinBody.m ├── FKinBody_sym.m ├── FKinSpace.m ├── FKinSpace_sym.m ├── ForwardDynamics.m ├── ForwardDynamicsTrajectory.m ├── GravityForces.m ├── IKinBody.m ├── IKinSpace.m ├── InverseDynamics.m ├── InverseDynamicsTrajectory.m ├── JacobianBody.m ├── JacobianBody_sym.m ├── JacobianSpace.m ├── JacobianSpace_sym.m ├── JointTrajectory.m ├── MassMatrix.m ├── MatrixExp3.m ├── MatrixExp3_sym.m ├── MatrixExp6.m ├── MatrixExp6_sym.m ├── MatrixLog3.m ├── MatrixLog6.m ├── NearZero.m ├── Normalize.m ├── ProjectToSE3.m ├── ProjectToSO3.m ├── QuinticTimeScaling.m ├── RotInv.m ├── RpToTrans.m ├── ScrewToAxis.m ├── ScrewTrajectory.m ├── SimulateControl.m ├── TestIfSE3.m ├── TestIfSO3.m ├── TransInv.m ├── TransToRp.m ├── VecTose3.m ├── VecToso3.m ├── VelQuadraticForces.m ├── ad.m ├── leg.slxc ├── se3ToVec.m └── so3ToVec.m └── param_init.m /.gitignore: -------------------------------------------------------------------------------- 1 | 2 | robots/a1_description/.vscode/ 3 | 4 | a1_launch/ 5 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 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