├── .gitignore ├── LICENSE ├── README.md └── src ├── CMakeLists.txt ├── unitree_guide ├── LICENSE ├── README.md ├── unitree_actuator_sdk │ ├── .gitignore │ ├── .vscode │ │ └── settings.json │ ├── CMakeLists.txt │ ├── ChangeID_Tool │ │ ├── Linux │ │ │ └── ChangeID │ │ └── Windows │ │ │ ├── ChangeID_Win64.exe │ │ │ └── libUnitree_motor_SDK_Win64.dll │ ├── LICENSE │ ├── ReadMe.md │ ├── include │ │ ├── LSerial.h │ │ ├── motor_ctrl.h │ │ └── motor_msg.h │ ├── lib │ │ ├── libUnitree_motor_SDK_ARM32.so │ │ ├── libUnitree_motor_SDK_ARM64.so │ │ ├── libUnitree_motor_SDK_Linux32.so │ │ ├── libUnitree_motor_SDK_Linux64.so │ │ └── libUnitree_motor_SDK_Win64.dll │ ├── script │ │ ├── check.py │ │ └── typedef.py │ ├── src │ │ ├── check.c │ │ └── check.cpp │ └── unitree_motor_ctrl │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── unitree_motor_ctrl │ │ │ ├── LSerial.h │ │ │ ├── motor_ctrl.h │ │ │ └── motor_msg.h │ │ ├── lib │ │ └── libUnitree_motor_SDK_Linux.so │ │ ├── package.xml │ │ ├── script │ │ ├── __pycache__ │ │ │ └── typedef.cpython-36.pyc │ │ ├── check.py │ │ └── typedef.py │ │ └── src │ │ └── check.cpp ├── unitree_guide │ ├── CMakeLists.txt │ ├── include │ │ ├── FSM │ │ │ ├── FSM.h │ │ │ ├── FSMState.h │ │ │ ├── State_BalanceTest.h │ │ │ ├── State_FixedStand.h │ │ │ ├── State_FreeStand.h │ │ │ ├── State_Passive.h │ │ │ ├── State_StepTest.h │ │ │ ├── State_SwingTest.h │ │ │ ├── State_Trotting.h │ │ │ └── State_move_base.h │ │ ├── Gait │ │ │ ├── FeetEndCal.h │ │ │ ├── GaitGenerator.h │ │ │ └── WaveGenerator.h │ │ ├── common │ │ │ ├── LowPassFilter.h │ │ │ ├── PyPlot.h │ │ │ ├── enumClass.h │ │ │ ├── mathTools.h │ │ │ ├── mathTypes.h │ │ │ ├── timeMarker.h │ │ │ ├── unitreeLeg.h │ │ │ └── unitreeRobot.h │ │ ├── control │ │ │ ├── BalanceCtrl.h │ │ │ ├── ControlFrame.h │ │ │ ├── CtrlComponents.h │ │ │ └── Estimator.h │ │ ├── interface │ │ │ ├── CmdPanel.h │ │ │ ├── IOInterface.h │ │ │ ├── IOROS.h │ │ │ ├── IOSDK.h │ │ │ ├── KeyBoard.h │ │ │ └── WirelessHandle.h │ │ ├── message │ │ │ ├── LowlevelCmd.h │ │ │ ├── LowlevelState.h │ │ │ └── unitree_joystick.h │ │ └── thirdParty │ │ │ ├── matplotlibcpp.h │ │ │ └── quadProgpp │ │ │ ├── Array.hh │ │ │ └── QuadProg++.hh │ ├── launch │ │ └── gazeboSim.launch │ ├── library │ │ ├── unitree_legged_sdk-3.8.0 │ │ │ ├── example │ │ │ │ ├── example_joystick.cpp │ │ │ │ ├── example_position.cpp │ │ │ │ ├── example_torque.cpp │ │ │ │ ├── example_velocity.cpp │ │ │ │ └── example_walk.cpp │ │ │ ├── example_py │ │ │ │ ├── example_position.py │ │ │ │ ├── example_torque.py │ │ │ │ ├── example_velocity.py │ │ │ │ └── example_walk.py │ │ │ ├── include │ │ │ │ └── unitree_legged_sdk │ │ │ │ │ ├── a1_const.h │ │ │ │ │ ├── aliengo_const.h │ │ │ │ │ ├── comm.h │ │ │ │ │ ├── go1_const.h │ │ │ │ │ ├── joystick.h │ │ │ │ │ ├── loop.h │ │ │ │ │ ├── quadruped.h │ │ │ │ │ ├── safety.h │ │ │ │ │ ├── udp.h │ │ │ │ │ └── unitree_legged_sdk.h │ │ │ └── lib │ │ │ │ ├── cpp │ │ │ │ ├── amd64 │ │ │ │ │ └── libunitree_legged_sdk.a │ │ │ │ └── arm64 │ │ │ │ │ └── libunitree_legged_sdk.a │ │ │ │ └── python │ │ │ │ ├── amd64 │ │ │ │ └── robot_interface.cpython-38-x86_64-linux-gnu.so │ │ │ │ └── arm64 │ │ │ │ ├── robot_interface.cpython-37m-aarch64-linux-gnu.so │ │ │ │ └── robot_interface.cpython-38-aarch64-linux-gnu.so │ │ ├── unitree_legged_sdk_3.2 │ │ │ ├── include │ │ │ │ └── unitree_legged_sdk │ │ │ │ │ ├── a1_const.h │ │ │ │ │ ├── aliengo_const.h │ │ │ │ │ ├── comm.h │ │ │ │ │ ├── lcm.h │ │ │ │ │ ├── lcm_server.h │ │ │ │ │ ├── loop.h │ │ │ │ │ ├── quadruped.h │ │ │ │ │ ├── safety.h │ │ │ │ │ ├── udp.h │ │ │ │ │ ├── unitree_joystick.h │ │ │ │ │ └── unitree_legged_sdk.h │ │ │ └── lib │ │ │ │ ├── libunitree_legged_sdk_amd64.so │ │ │ │ ├── libunitree_legged_sdk_arm32.so │ │ │ │ └── libunitree_legged_sdk_arm64.so │ │ └── unitree_legged_sdk_3.4 │ │ │ ├── include │ │ │ └── unitree_legged_sdk │ │ │ │ ├── a1_const.h │ │ │ │ ├── aliengo_const.h │ │ │ │ ├── comm.h │ │ │ │ ├── lcm.h │ │ │ │ ├── loop.h │ │ │ │ ├── quadruped.h │ │ │ │ ├── safety.h │ │ │ │ ├── udp.h │ │ │ │ └── unitree_legged_sdk.h │ │ │ └── lib │ │ │ ├── libunitree_legged_sdk_arm64.so │ │ │ └── libunitree_legged_sdk_x86.so │ ├── package.xml │ └── src │ │ ├── FSM │ │ ├── FSM.cpp │ │ ├── FSMState.cpp │ │ ├── State_BalanceTest.cpp │ │ ├── State_FixedStand.cpp │ │ ├── State_FreeStand.cpp │ │ ├── State_Passive.cpp │ │ ├── State_StepTest.cpp │ │ ├── State_SwingTest.cpp │ │ ├── State_Trotting.cpp │ │ └── State_move_base.cpp │ │ ├── Gait │ │ ├── FeetEndCal.cpp │ │ ├── GaitGenerator.cpp │ │ └── WaveGenerator.cpp │ │ ├── common │ │ ├── LowPassFilter.cpp │ │ ├── unitreeLeg.cpp │ │ └── unitreeRobot.cpp │ │ ├── control │ │ ├── BalanceCtrl.cpp │ │ ├── ControlFrame.cpp │ │ └── Estimator.cpp │ │ ├── interface │ │ ├── IOROS.cpp │ │ ├── IOSDK.cpp │ │ ├── KeyBoard.cpp │ │ └── WirelessHandle.cpp │ │ ├── main.cpp │ │ └── quadProgpp │ │ ├── Array.cc │ │ └── QuadProg++.cc └── unitree_move_base │ ├── .gitignore │ ├── CMakeLists.txt │ ├── config │ ├── 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