├── README.md ├── figure ├── corridog.jpg ├── corridog.png ├── corridor.gif ├── corridor02.gif ├── dog.png ├── dog01.jpg ├── dog02.jpg ├── map_dog.jpg ├── park01.gif ├── park02.gif ├── readme.txt ├── running.gif └── sensor.png ├── kalman_go1 ├── CMakeLists.txt ├── config │ └── go1.yaml ├── include │ └── convert.h ├── launch │ ├── pubLegEF.launch │ └── pub_highstate.launch ├── package.xml └── src │ └── exe │ ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json │ ├── pub_highstate.cpp │ └── pub_kf.cpp ├── unitree_legged_msgs ├── CMakeLists.txt ├── msg │ ├── BmsCmd.msg │ ├── BmsState.msg │ ├── Cartesian.msg │ ├── HighCmd.msg │ ├── HighState.msg │ ├── IMU.msg │ ├── LED.msg │ ├── LowCmd.msg │ ├── LowState.msg │ ├── MotorCmd.msg │ └── MotorState.msg └── package.xml └── unitree_legged_sdk ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── example ├── example_joystick.cpp ├── example_position.cpp ├── example_torque.cpp ├── example_velocity.cpp ├── example_walk.cpp └── pub_highstate.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 /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/README.md -------------------------------------------------------------------------------- /figure/corridog.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/corridog.jpg -------------------------------------------------------------------------------- /figure/corridog.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/corridog.png -------------------------------------------------------------------------------- /figure/corridor.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/corridor.gif -------------------------------------------------------------------------------- /figure/corridor02.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/corridor02.gif -------------------------------------------------------------------------------- /figure/dog.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/dog.png -------------------------------------------------------------------------------- /figure/dog01.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/dog01.jpg -------------------------------------------------------------------------------- /figure/dog02.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/dog02.jpg -------------------------------------------------------------------------------- /figure/map_dog.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/map_dog.jpg -------------------------------------------------------------------------------- /figure/park01.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/park01.gif -------------------------------------------------------------------------------- /figure/park02.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/park02.gif -------------------------------------------------------------------------------- /figure/readme.txt: -------------------------------------------------------------------------------- 1 | figures about dataset 2 | -------------------------------------------------------------------------------- /figure/running.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/running.gif -------------------------------------------------------------------------------- /figure/sensor.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/figure/sensor.png -------------------------------------------------------------------------------- /kalman_go1/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/CMakeLists.txt -------------------------------------------------------------------------------- /kalman_go1/config/go1.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/config/go1.yaml -------------------------------------------------------------------------------- /kalman_go1/include/convert.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/include/convert.h -------------------------------------------------------------------------------- /kalman_go1/launch/pubLegEF.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/launch/pubLegEF.launch -------------------------------------------------------------------------------- /kalman_go1/launch/pub_highstate.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/launch/pub_highstate.launch -------------------------------------------------------------------------------- /kalman_go1/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/package.xml -------------------------------------------------------------------------------- /kalman_go1/src/exe/.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/src/exe/.vscode/c_cpp_properties.json -------------------------------------------------------------------------------- /kalman_go1/src/exe/.vscode/settings.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/src/exe/.vscode/settings.json -------------------------------------------------------------------------------- /kalman_go1/src/exe/pub_highstate.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/src/exe/pub_highstate.cpp -------------------------------------------------------------------------------- /kalman_go1/src/exe/pub_kf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/kalman_go1/src/exe/pub_kf.cpp -------------------------------------------------------------------------------- /unitree_legged_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/CMakeLists.txt -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/BmsCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/BmsCmd.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/BmsState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/BmsState.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/Cartesian.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/Cartesian.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/HighCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/HighCmd.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/HighState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/HighState.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/IMU.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/IMU.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/LED.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/LED.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/LowCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/LowCmd.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/LowState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/LowState.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/MotorCmd.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/MotorCmd.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/msg/MotorState.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/msg/MotorState.msg -------------------------------------------------------------------------------- /unitree_legged_msgs/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_msgs/package.xml -------------------------------------------------------------------------------- /unitree_legged_sdk/.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | 3 | *.o 4 | .vscode 5 | -------------------------------------------------------------------------------- /unitree_legged_sdk/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/CMakeLists.txt -------------------------------------------------------------------------------- /unitree_legged_sdk/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/LICENSE -------------------------------------------------------------------------------- /unitree_legged_sdk/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/README.md -------------------------------------------------------------------------------- /unitree_legged_sdk/example/example_joystick.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/example_joystick.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example/example_position.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/example_position.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example/example_torque.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/example_torque.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example/example_velocity.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/example_velocity.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example/example_walk.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/example_walk.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example/pub_highstate.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example/pub_highstate.cpp -------------------------------------------------------------------------------- /unitree_legged_sdk/example_py/example_position.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example_py/example_position.py -------------------------------------------------------------------------------- /unitree_legged_sdk/example_py/example_torque.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example_py/example_torque.py -------------------------------------------------------------------------------- /unitree_legged_sdk/example_py/example_velocity.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example_py/example_velocity.py -------------------------------------------------------------------------------- /unitree_legged_sdk/example_py/example_walk.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/example_py/example_walk.py -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/a1_const.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/a1_const.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/aliengo_const.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/aliengo_const.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/comm.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/comm.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/go1_const.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/go1_const.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/joystick.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/joystick.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/loop.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/loop.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/quadruped.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/quadruped.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/safety.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/safety.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/udp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/udp.h -------------------------------------------------------------------------------- /unitree_legged_sdk/include/unitree_legged_sdk/unitree_legged_sdk.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/include/unitree_legged_sdk/unitree_legged_sdk.h -------------------------------------------------------------------------------- /unitree_legged_sdk/lib/cpp/amd64/libunitree_legged_sdk.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/lib/cpp/amd64/libunitree_legged_sdk.a -------------------------------------------------------------------------------- /unitree_legged_sdk/lib/cpp/arm64/libunitree_legged_sdk.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/lib/cpp/arm64/libunitree_legged_sdk.a -------------------------------------------------------------------------------- /unitree_legged_sdk/lib/python/amd64/robot_interface.cpython-38-x86_64-linux-gnu.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/lib/python/amd64/robot_interface.cpython-38-x86_64-linux-gnu.so -------------------------------------------------------------------------------- /unitree_legged_sdk/lib/python/arm64/robot_interface.cpython-37m-aarch64-linux-gnu.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/lib/python/arm64/robot_interface.cpython-37m-aarch64-linux-gnu.so -------------------------------------------------------------------------------- /unitree_legged_sdk/lib/python/arm64/robot_interface.cpython-38-aarch64-linux-gnu.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ouguangjun/legkilo-dataset/HEAD/unitree_legged_sdk/lib/python/arm64/robot_interface.cpython-38-aarch64-linux-gnu.so --------------------------------------------------------------------------------