├── .gitignore ├── .gitmodules ├── Commands.txt ├── LICENSE ├── README.md ├── images ├── RL CONTROL.jpeg ├── RL NAVIGATION.jpeg └── pronking.gif ├── setup.bash └── src ├── go2_launch ├── CMakeLists.txt ├── LICENSE ├── launch │ ├── go2_nav_nodes_jit.launch.py │ ├── go2_nav_nodes_onnx.launch.py │ ├── go2_rough_walk_nodes_onnx.launch.py │ ├── go2_walk_nodes_jit.launch.py │ └── go2_walk_nodes_onnx.launch.py └── package.xml ├── go2_lidar_decoder ├── LICENSE ├── go2_lidar_decoder │ ├── __init__.py │ ├── go2_depth_map.py │ ├── go2_depth_map_visualizer.py │ ├── go2_height_map.py │ └── go2_height_map_visualizer.py ├── package.xml ├── resource │ └── go2_lidar_decoder ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── go2_sdk_integration ├── CMakeLists.txt ├── LICENSE ├── include │ ├── common │ │ ├── motor_crc.h │ │ └── ros2_sport_client.h │ └── nlohmann │ │ ├── adl_serializer.hpp │ │ ├── byte_container_with_subtype.hpp │ │ ├── detail │ │ ├── abi_macros.hpp │ │ ├── conversions │ │ │ ├── from_json.hpp │ │ │ ├── to_chars.hpp │ │ │ └── to_json.hpp │ │ ├── exceptions.hpp │ │ ├── hash.hpp │ │ ├── input │ │ │ ├── binary_reader.hpp │ │ │ ├── input_adapters.hpp │ │ │ ├── json_sax.hpp │ │ │ ├── lexer.hpp │ │ │ ├── parser.hpp │ │ │ └── position_t.hpp │ │ ├── iterators │ │ │ ├── internal_iterator.hpp │ │ │ ├── iter_impl.hpp │ │ │ ├── iteration_proxy.hpp │ │ │ ├── iterator_traits.hpp │ │ │ ├── json_reverse_iterator.hpp │ │ │ └── primitive_iterator.hpp │ │ ├── json_custom_base_class.hpp │ │ ├── json_pointer.hpp │ │ ├── json_ref.hpp │ │ ├── macro_scope.hpp │ │ ├── macro_unscope.hpp │ │ ├── meta │ │ │ ├── call_std │ │ │ │ ├── begin.hpp │ │ │ │ └── end.hpp │ │ │ ├── cpp_future.hpp │ │ │ ├── detected.hpp │ │ │ ├── identity_tag.hpp │ │ │ ├── is_sax.hpp │ │ │ ├── std_fs.hpp │ │ │ ├── type_traits.hpp │ │ │ └── void_t.hpp │ │ ├── output │ │ │ ├── binary_writer.hpp │ │ │ ├── output_adapters.hpp │ │ │ └── serializer.hpp │ │ ├── string_concat.hpp │ │ ├── string_escape.hpp │ │ └── value_t.hpp │ │ ├── json.hpp │ │ ├── json_fwd.hpp │ │ ├── ordered_map.hpp │ │ └── thirdparty │ │ └── hedley │ │ ├── hedley.hpp │ │ └── hedley_undef.hpp ├── package.xml └── src │ ├── common │ ├── motor_crc.cpp │ └── ros2_sport_client.cpp │ ├── go2_ai_switcher.cpp │ ├── go2_audio_shut_off.cpp │ ├── go2_motion_shut_off.cpp │ ├── go2_motion_switcher_service.cpp │ └── go2_sport_switcher.cpp ├── rl_deploy ├── CMakeLists.txt ├── LICENSE ├── include │ └── common │ │ ├── motor_crc.h │ │ └── ros2_sport_client.h ├── package.xml └── src │ ├── common │ ├── motor_crc.cpp │ └── ros2_sport_client.cpp │ └── go2_rl_control_cpp.cpp ├── rl_deploy_nav ├── CMakeLists.txt ├── LICENSE ├── include │ ├── common │ │ ├── motor_crc.h │ │ └── ros2_sport_client.h │ └── nlohmann │ │ ├── adl_serializer.hpp │ │ ├── byte_container_with_subtype.hpp │ │ ├── detail │ │ ├── abi_macros.hpp │ │ ├── conversions │ │ │ ├── from_json.hpp │ │ │ ├── to_chars.hpp │ │ │ └── to_json.hpp │ │ ├── exceptions.hpp │ │ ├── hash.hpp │ │ ├── input │ │ │ ├── binary_reader.hpp │ │ │ ├── input_adapters.hpp │ │ │ ├── json_sax.hpp │ │ │ ├── lexer.hpp │ │ │ ├── parser.hpp │ │ │ └── position_t.hpp │ │ ├── iterators │ │ │ ├── internal_iterator.hpp │ │ │ ├── iter_impl.hpp │ │ │ ├── iteration_proxy.hpp │ │ │ ├── iterator_traits.hpp │ │ │ ├── json_reverse_iterator.hpp │ │ │ └── primitive_iterator.hpp │ │ ├── json_custom_base_class.hpp │ │ ├── json_pointer.hpp │ │ ├── json_ref.hpp │ │ ├── macro_scope.hpp │ │ ├── macro_unscope.hpp │ │ ├── meta │ │ │ ├── call_std │ │ │ │ ├── begin.hpp │ │ │ │ └── end.hpp │ │ │ ├── cpp_future.hpp │ │ │ ├── detected.hpp │ │ │ ├── identity_tag.hpp │ │ │ ├── is_sax.hpp │ │ │ ├── std_fs.hpp │ │ │ ├── type_traits.hpp │ │ │ └── void_t.hpp │ │ ├── output │ │ │ ├── binary_writer.hpp │ │ │ ├── output_adapters.hpp │ │ │ └── serializer.hpp │ │ ├── string_concat.hpp │ │ ├── string_escape.hpp │ │ └── value_t.hpp │ │ ├── json.hpp │ │ ├── json_fwd.hpp │ │ ├── ordered_map.hpp │ │ └── thirdparty │ │ └── hedley │ │ ├── hedley.hpp │ │ └── hedley_undef.hpp ├── package.xml └── src │ ├── common │ ├── motor_crc.cpp │ └── ros2_sport_client.cpp │ └── go2_rl_nav_cpp.cpp ├── rl_nav_ros_actions ├── LICENSE ├── package.xml ├── resource │ └── rl_nav_ROS_actions ├── rl_nav_ros_actions │ └── __init__.py ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── rl_navigation ├── LICENSE ├── package.xml ├── resource │ └── rl_navigation ├── rl_navigation │ ├── __init__.py │ ├── go2_pose_command.py │ ├── go2_rl_nav_actions_jit.py │ └── go2_rl_nav_actions_onnx.py ├── setup.cfg ├── setup.py ├── share │ └── models │ │ └── flat_nav_policy.onnx └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py └── unitree_ros2_python ├── LICENSE ├── package.xml ├── resource └── unitree_ros2_python ├── setup.cfg ├── setup.py ├── share └── models │ ├── flat_policy_v3.onnx │ ├── flat_policy_v5.onnx │ ├── flat_policy_v6.onnx │ ├── 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