├── .gitignore ├── LICENSE ├── README.md ├── config └── go2.yaml ├── main.py ├── src ├── __init__.py ├── ekf.py ├── imuPropagation.py └── initalign.py ├── unitree_go └── msg │ ├── AudioData.msg │ ├── BmsCmd.msg │ ├── BmsState.msg │ ├── Error.msg │ ├── Go2FrontVideoData.msg │ ├── IMUState.msg │ ├── InterfaceConfig.msg │ ├── LidarState.msg │ ├── LowCmd.msg │ ├── LowState.msg │ ├── MotorCmd.msg │ ├── MotorCmds.msg │ ├── MotorState.msg │ ├── MotorStates.msg │ ├── PathPoint.msg │ ├── Req.msg │ ├── Res.msg │ ├── SportModeCmd.msg │ ├── SportModeState.msg │ ├── TimeSpec.msg │ ├── UwbState.msg │ ├── UwbSwitch.msg │ └── WirelessController.msg └── utils ├── __init__.py ├── dataloader.py ├── loadanddump.py ├── rot.py ├── streams.py ├── types.py └── vis.py /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/* -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/README.md -------------------------------------------------------------------------------- /config/go2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/config/go2.yaml -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/main.py -------------------------------------------------------------------------------- /src/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ekf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/src/ekf.py -------------------------------------------------------------------------------- /src/imuPropagation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/src/imuPropagation.py -------------------------------------------------------------------------------- /src/initalign.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/src/initalign.py -------------------------------------------------------------------------------- /unitree_go/msg/AudioData.msg: -------------------------------------------------------------------------------- 1 | uint64 time_frame 2 | uint8[] data -------------------------------------------------------------------------------- /unitree_go/msg/BmsCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/BmsCmd.msg -------------------------------------------------------------------------------- /unitree_go/msg/BmsState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/BmsState.msg -------------------------------------------------------------------------------- /unitree_go/msg/Error.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/Error.msg -------------------------------------------------------------------------------- /unitree_go/msg/Go2FrontVideoData.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/Go2FrontVideoData.msg -------------------------------------------------------------------------------- /unitree_go/msg/IMUState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/IMUState.msg -------------------------------------------------------------------------------- /unitree_go/msg/InterfaceConfig.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/InterfaceConfig.msg -------------------------------------------------------------------------------- /unitree_go/msg/LidarState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/LidarState.msg -------------------------------------------------------------------------------- /unitree_go/msg/LowCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/LowCmd.msg -------------------------------------------------------------------------------- /unitree_go/msg/LowState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/LowState.msg -------------------------------------------------------------------------------- /unitree_go/msg/MotorCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/MotorCmd.msg -------------------------------------------------------------------------------- /unitree_go/msg/MotorCmds.msg: -------------------------------------------------------------------------------- 1 | MotorCmd[] cmds -------------------------------------------------------------------------------- /unitree_go/msg/MotorState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/MotorState.msg -------------------------------------------------------------------------------- /unitree_go/msg/MotorStates.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/MotorStates.msg -------------------------------------------------------------------------------- /unitree_go/msg/PathPoint.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/PathPoint.msg -------------------------------------------------------------------------------- /unitree_go/msg/Req.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/Req.msg -------------------------------------------------------------------------------- /unitree_go/msg/Res.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/Res.msg -------------------------------------------------------------------------------- /unitree_go/msg/SportModeCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/SportModeCmd.msg -------------------------------------------------------------------------------- /unitree_go/msg/SportModeState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/SportModeState.msg -------------------------------------------------------------------------------- /unitree_go/msg/TimeSpec.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/TimeSpec.msg -------------------------------------------------------------------------------- /unitree_go/msg/UwbState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/UwbState.msg -------------------------------------------------------------------------------- /unitree_go/msg/UwbSwitch.msg: -------------------------------------------------------------------------------- 1 | uint8 enabled -------------------------------------------------------------------------------- /unitree_go/msg/WirelessController.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/unitree_go/msg/WirelessController.msg -------------------------------------------------------------------------------- /utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /utils/dataloader.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/dataloader.py -------------------------------------------------------------------------------- /utils/loadanddump.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/loadanddump.py -------------------------------------------------------------------------------- /utils/rot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/rot.py -------------------------------------------------------------------------------- /utils/streams.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/streams.py -------------------------------------------------------------------------------- /utils/types.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/types.py -------------------------------------------------------------------------------- /utils/vis.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YibinWu/leg-odometry/HEAD/utils/vis.py --------------------------------------------------------------------------------