├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── config.xml └── savedArmStates.csv ├── deploy ├── aarch64 │ └── z1_udp_service └── x86_64 │ └── z1_udp_service ├── include ├── FSM │ ├── BaseState.h │ ├── FSMState.h │ ├── FiniteStateMachine.h │ ├── State_BackToStart.h │ ├── State_Calibration.h │ ├── State_Cartesian.h │ ├── State_JointSpace.h │ ├── State_LowCmd.h │ ├── State_MoveC.h │ ├── State_MoveJ.h │ ├── State_MoveL.h │ ├── State_Passive.h │ ├── State_SaveState.h │ ├── State_Teach.h │ ├── State_TeachRepeat.h │ ├── State_ToState.h │ └── State_Trajectory.h ├── common │ ├── enumClass.h │ ├── math │ │ ├── Filter.h │ │ ├── mathTools.h │ │ ├── mathTypes.h │ │ └── robotics.h │ └── utilities │ │ ├── CSVTool.h │ │ ├── loop.h │ │ ├── timer.h │ │ └── typeTrans.h ├── control │ ├── CtrlComponents.h │ ├── armSDK.h │ ├── cmdPanel.h │ └── keyboard.h ├── interface │ ├── IOInterface.h │ └── IOUDP.h ├── message │ ├── LowlevelCmd.h │ ├── LowlevelState.h │ ├── MotorCmd.h │ ├── MotorState.h │ ├── arm_common.h │ └── udp.h ├── model │ ├── ArmModel.h │ └── unitree_gripper.h ├── thirdparty │ ├── quadProgpp │ │ ├── Array.hh │ │ └── QuadProg++.hh │ └── tinyxml │ │ ├── tinystr.h │ │ └── tinyxml.h └── trajectory │ ├── EndCircleTraj.h │ ├── EndHomoTraj.h │ ├── EndLineTraj.h │ ├── JointSpaceTraj.h │ ├── SCurve.h │ ├── StopForTime.h │ ├── Trajectory.h │ └── TrajectoryManager.h ├── lib ├── libZ1_aarch64.so └── libZ1_x86_64.so ├── main.cpp ├── sim ├── CMakeLists.txt ├── IOROS.cpp ├── IOROS.h ├── package.xml └── sim_ctrl.cpp └── unitreeArmTools.py /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 | build 3 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unitreerobotics/z1_controller/HEAD/CMakeLists.txt 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