├── .gitignore ├── CMakeLists.txt ├── README.md ├── include ├── comm.h ├── common │ └── mathTools.h ├── conversion.hpp ├── gamepad.hpp ├── param │ └── cfg.hpp ├── robot_controller.hpp ├── robot_interface.hpp ├── state_machine.hpp └── user_controller.hpp ├── models ├── Sep28_17-01-19_gs_encoder.pt ├── Sep28_17-01-19_gs_policy.pt ├── simple_rl_model.pt └── wtw_model.pt ├── params ├── simple_rl_config.yaml ├── ts_config.yaml └── wtw_config.yaml └── src └── main.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | # IDE 2 | .vscode 3 | 4 | build 5 | 6 | logs -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/README.md -------------------------------------------------------------------------------- /include/comm.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/comm.h -------------------------------------------------------------------------------- /include/common/mathTools.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/common/mathTools.h -------------------------------------------------------------------------------- /include/conversion.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/conversion.hpp -------------------------------------------------------------------------------- /include/gamepad.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/gamepad.hpp -------------------------------------------------------------------------------- /include/param/cfg.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/param/cfg.hpp -------------------------------------------------------------------------------- /include/robot_controller.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/robot_controller.hpp -------------------------------------------------------------------------------- /include/robot_interface.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/robot_interface.hpp -------------------------------------------------------------------------------- /include/state_machine.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/state_machine.hpp -------------------------------------------------------------------------------- /include/user_controller.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/include/user_controller.hpp -------------------------------------------------------------------------------- /models/Sep28_17-01-19_gs_encoder.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/models/Sep28_17-01-19_gs_encoder.pt -------------------------------------------------------------------------------- /models/Sep28_17-01-19_gs_policy.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/models/Sep28_17-01-19_gs_policy.pt -------------------------------------------------------------------------------- /models/simple_rl_model.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/models/simple_rl_model.pt -------------------------------------------------------------------------------- /models/wtw_model.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/models/wtw_model.pt -------------------------------------------------------------------------------- /params/simple_rl_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/params/simple_rl_config.yaml -------------------------------------------------------------------------------- /params/ts_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/params/ts_config.yaml -------------------------------------------------------------------------------- /params/wtw_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/params/wtw_config.yaml -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lupinjia/go2_deploy/HEAD/src/main.cpp --------------------------------------------------------------------------------