├── G1Nav2D ├── .catkin_workspace ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── client │ ├── DogControllerSDK.py │ ├── YgClient.py │ ├── __pycache__ │ │ ├── DogControllerSDK.cpython-38.pyc │ │ └── constants.cpython-38.pyc │ ├── clientTrue.html │ └── constants.py ├── src │ ├── CMakeLists.txt │ ├── fastlio2 │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── PCD │ │ │ ├── ground_map.pcd │ │ │ └── map.pcd │ │ ├── README.md │ │ ├── config │ │ │ ├── localize.yaml │ │ │ └── mapping.yaml │ │ ├── include │ │ │ ├── IKFoM_toolkit │ │ │ │ ├── esekfom │ │ │ │ │ ├── esekfom.hpp │ │ │ │ │ └── util.hpp │ │ │ │ └── mtk │ │ │ │ │ ├── build_manifold.hpp │ │ │ │ │ ├── src │ │ │ │ │ ├── SubManifold.hpp │ │ │ │ │ ├── mtkmath.hpp │ │ │ │ │ └── vectview.hpp │ │ │ │ │ ├── startIdx.hpp │ │ │ │ │ └── types │ │ │ │ │ ├── S2.hpp │ │ │ │ │ ├── SOn.hpp │ │ │ │ │ ├── vect.hpp │ │ │ │ │ └── wrapped_cv_mat.hpp │ │ │ ├── commons.h │ │ │ ├── ikd-Tree │ │ │ │ ├── README.md │ │ │ │ ├── ikd_Tree.cpp │ │ │ │ └── ikd_Tree.h │ │ │ ├── lio_builder │ │ │ │ ├── imu_processor.h │ │ │ │ └── lio_builder.h │ │ │ └── localizer │ │ │ │ └── icp_localizer.h │ │ ├── launch │ │ │ ├── gridmap_load.launch │ │ │ ├── mapping.launch │ │ │ ├── navigation.launch │ │ │ └── octomap_server.launch │ │ ├── package.xml │ │ ├── path │ │ │ └── key_poses.txt │ │ ├── rviz │ │ │ ├── localize.rviz │ │ │ └── mapping.rviz │ │ ├── scripts │ │ │ └── slam_reloc.py │ │ ├── src │ │ │ ├── commons.cpp │ │ │ ├── lio_builder │ │ │ │ ├── imu_processor.cpp │ │ │ │ └── lio_builder.cpp │ │ │ ├── localizer │ │ │ │ └── icp_localizer.cpp │ │ │ ├── localizer_node.cpp │ │ │ ├── map_builder_node.cpp │ │ │ └── temp_node.cpp │ │ └── srv │ │ │ ├── MapConvert.srv │ │ │ ├── SaveMap.srv │ │ │ ├── SlamHold.srv │ │ │ ├── SlamReLoc.srv │ │ │ ├── SlamRelocCheck.srv │ │ │ └── SlamStart.srv │ ├── livox_ros_driver2-master │ │ ├── .gitignore │ │ ├── 3rdparty │ │ │ └── rapidjson │ │ │ │ ├── allocators.h │ │ │ │ ├── cursorstreamwrapper.h │ │ │ │ ├── document.h │ │ │ │ ├── encodedstream.h │ │ │ │ ├── encodings.h │ │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ │ ├── filereadstream.h │ │ │ │ ├── filewritestream.h │ │ │ │ ├── fwd.h │ │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── clzll.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ │ ├── istreamwrapper.h │ │ │ │ ├── license.txt │ │ │ │ ├── memorybuffer.h │ │ │ │ ├── memorystream.h │ │ │ │ ├── msinttypes │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ │ ├── ostreamwrapper.h │ │ │ │ ├── pointer.h │ │ │ │ ├── prettywriter.h │ │ │ │ ├── rapidjson.h │ │ │ │ ├── reader.h │ │ │ │ ├── schema.h │ │ │ │ ├── stream.h │ │ │ │ ├── stringbuffer.h │ │ │ │ └── writer.h │ │ ├── CHANGELOG.md │ │ ├── CMakeLists.txt │ │ ├── LICENSE.txt │ │ ├── README.md │ │ ├── build.sh │ │ ├── cmake │ │ │ └── version.cmake │ │ ├── config │ │ │ ├── HAP_config.json │ │ │ ├── MID360_config.json │ │ │ ├── display_point_cloud_ROS1.rviz │ │ │ ├── display_point_cloud_ROS2.rviz │ │ │ └── mixed_HAP_MID360_config.json │ │ ├── install │ │ ├── install.1 │ │ ├── launch_ROS1 │ │ │ ├── msg_HAP.launch │ │ │ ├── msg_MID360.launch │ │ │ ├── msg_mixed.launch │ │ │ ├── rviz_HAP.launch │ │ │ ├── rviz_MID360.launch │ │ │ └── rviz_mixed.launch │ │ ├── launch_ROS2 │ │ │ ├── msg_HAP_launch.py │ │ │ ├── msg_MID360_launch.py │ │ │ ├── rviz_HAP_launch.py │ │ │ ├── rviz_MID360_launch.py │ │ │ └── rviz_mixed.py │ │ ├── msg │ │ │ ├── CustomMsg.msg │ │ │ └── CustomPoint.msg │ │ ├── package_ROS1.xml │ │ ├── package_ROS2.xml │ │ └── src │ │ │ ├── call_back │ │ │ ├── lidar_common_callback.cpp │ │ │ ├── lidar_common_callback.h │ │ │ ├── livox_lidar_callback.cpp │ │ │ └── livox_lidar_callback.h │ │ │ ├── comm │ │ │ ├── cache_index.cpp │ │ │ ├── cache_index.h │ │ │ ├── comm.cpp │ │ │ ├── comm.h │ │ │ ├── ldq.cpp │ │ │ ├── ldq.h │ │ │ ├── lidar_imu_data_queue.cpp │ │ │ ├── lidar_imu_data_queue.h │ │ │ ├── pub_handler.cpp │ │ │ ├── pub_handler.h │ │ │ ├── semaphore.cpp │ │ │ └── semaphore.h │ │ │ ├── driver_node.cpp │ │ │ ├── driver_node.h │ │ │ ├── include │ │ │ ├── livox_ros_driver2.h │ │ │ ├── ros1_headers.h │ │ │ ├── ros2_headers.h │ │ │ └── ros_headers.h │ │ │ ├── lddc.cpp │ │ │ ├── lddc.h │ │ │ ├── lds.cpp │ │ │ ├── lds.h │ │ │ ├── lds_lidar.cpp │ │ │ ├── lds_lidar.h │ │ │ ├── livox_ros_driver2.cpp │ │ │ └── parse_cfg_file │ │ │ ├── parse_cfg_file.cpp │ │ │ ├── parse_cfg_file.h │ │ │ ├── parse_livox_lidar_cfg.cpp │ │ │ └── parse_livox_lidar_cfg.h │ ├── movebase │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── move_base.launch │ │ ├── package.xml │ │ ├── param.zip │ │ ├── param │ │ │ ├── costmap_ackermann_params.yaml │ │ │ ├── costmap_converter_params.yaml │ │ │ ├── costmap_params.yaml │ │ │ ├── dwa_local_planner_params.yaml │ │ │ ├── mbf_sbpl.yaml │ │ │ ├── move_base_flex_params.yaml │ │ │ ├── move_base_params.yaml │ │ │ ├── recovery_behavior_params.yaml │ │ │ ├── sbpl_global_params.yaml │ │ │ ├── teb_ackermann.yaml │ │ │ ├── teb_local_planner_params.yaml │ │ │ └── xjureso005.mprim │ │ ├── rviz │ │ │ ├── mbf.rviz │ │ │ ├── pnc.rviz │ │ │ └── teb.rviz │ │ ├── src │ │ │ └── costmap_clear.cpp │ │ └── srv │ │ │ └── xju_task.srv │ ├── pointcloud_to_laserscan │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── pointcloud_to_laserscan │ │ │ │ └── pointcloud_to_laserscan_nodelet.h │ │ ├── launch │ │ │ ├── point_to_scan.launch │ │ │ ├── sample_node.launch │ │ │ ├── sample_nodelet.launch │ │ │ ├── xiaoqiang_lungu_kinect.launch │ │ │ ├── xiaoqiang_pro_kinect.launch │ │ │ └── xiaoqiang_rslidar.launch │ │ ├── nodelets.xml │ │ ├── package.xml │ │ ├── rviz │ │ │ ├── kinect.rviz │ │ │ └── rsldiar.rviz │ │ └── src │ │ │ ├── pointcloud_to_laserscan_node.cpp │ │ │ └── pointcloud_to_laserscan_nodelet.cpp │ ├── ros_map_edit │ │ ├── CMakeLists.txt │ │ ├── PROJECT_SUMMARY.md │ │ ├── README.md │ │ ├── USAGE.md │ │ ├── config │ │ │ └── map_edit.rviz │ │ ├── images │ │ │ └── ros_map_edit.png │ │ ├── include │ │ │ └── ros_map_edit │ │ │ │ ├── map_edit_panel.h │ │ │ │ ├── map_edit_tool.h │ │ │ │ ├── map_eraser_tool.h │ │ │ │ ├── map_file_manager.h │ │ │ │ ├── region_tool.h │ │ │ │ ├── tool_manager.h │ │ │ │ └── virtual_wall_tool.h │ │ ├── launch │ │ │ ├── map_edit.launch │ │ │ └── map_server.launch │ │ ├── maps │ │ │ ├── 25030901.json │ │ │ ├── 25030901.pgm │ │ │ ├── 25030901.yaml │ │ │ ├── 25030901_region.json │ │ │ ├── map.json │ │ │ ├── map.pgm │ │ │ ├── map.yaml │ │ │ ├── map_region.json │ │ │ ├── test.json │ │ │ ├── test.pgm │ │ │ ├── test.yaml │ │ │ ├── test2.json │ │ │ ├── test2.pgm │ │ │ ├── test2.yaml │ │ │ ├── test2_region.json │ │ │ └── test_region.json │ │ ├── package.xml │ │ ├── params │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ └── mnav.yaml │ │ ├── plugin_description.xml │ │ ├── scripts │ │ │ ├── create_sample_map.py │ │ │ ├── debug_map_loading.sh │ │ │ ├── multi_point_navigation.py │ │ │ ├── save_pose.py │ │ │ ├── test_eraser.sh │ │ │ ├── test_file_dialog.sh │ │ │ ├── test_map_loading.sh │ │ │ ├── test_map_loading_only.sh │ │ │ ├── test_plugin.sh │ │ │ ├── test_save.sh │ │ │ ├── test_square_brush.sh │ │ │ ├── test_with_new_map.sh │ │ │ └── virtual_wall_map_publisher.py │ │ └── src │ │ │ ├── map_edit_panel.cpp │ │ │ ├── map_edit_tool.cpp │ │ │ ├── map_eraser_tool.cpp │ │ │ ├── map_file_manager.cpp │ │ │ ├── region_tool.cpp │ │ │ ├── tool_manager.cpp │ │ │ └── virtual_wall_tool.cpp │ ├── tool │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── launch │ │ │ ├── body2any_pointcloud.launch │ │ │ ├── body2map_pointcloud.launch │ │ │ ├── downsample_pointcloud.launch │ │ │ ├── livox2velodyne.launch │ │ │ ├── local2map_odom.launch │ │ │ ├── path2waypoint.launch │ │ │ ├── play_teaching_path.launch │ │ │ ├── record_teaching_path.launch │ │ │ └── robot_around_pointcloud.launch │ │ ├── package.xml │ │ ├── path │ │ │ └── teaching_paths.txt │ │ ├── scripts │ │ │ ├── play_teaching_path.py │ │ │ └── record_teaching_path.py │ │ └── src │ │ │ ├── body2any_pointcloud.cpp │ │ │ ├── body2map_pointcloud.cpp │ │ │ ├── downsample_pointcloud.cpp │ │ │ ├── livox2velodyne.cpp │ │ │ ├── local2map_odom.cpp │ │ │ ├── path2waypoint.cpp │ │ │ └── robot_around_pointcloud.cpp │ └── velocity_smoother_ema │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ └── velocity_smoother_ema │ │ │ └── velocity_smoother_ema.hpp │ │ ├── launch │ │ └── velocity_smoother_ema.launch │ │ ├── package.xml │ │ ├── param │ │ └── smoother.yaml │ │ ├── src │ │ └── velocity_smoother_ema.cpp │ │ └── velocity_smoother_ema.png └── 启动脚本.txt ├── PythonProject ├── .idea │ ├── .gitignore │ ├── PythonProject.iml │ ├── inspectionProfiles │ │ └── profiles_settings.xml │ ├── misc.xml │ ├── modules.xml │ └── vcs.xml ├── SW_STEP.zip ├── daohang │ ├── daohang-dianti.py │ └── daohang_weishengjian.py ├── doubao │ ├── 111.py │ ├── recognition_result_20250821_172436.txt │ ├── recognition_result_20250821_172455.txt │ └── test.py ├── face │ ├── face.py │ └── takep.py ├── point_nav │ ├── audio │ │ ├── bangongshi.mp3 │ │ ├── dianti.mp3 │ │ ├── test.mp3 │ │ ├── test.raw │ │ └── weishengjian.mp3 │ ├── point1.py │ ├── point2.py │ ├── point3.py │ ├── point4.py │ └── point5.py └── py-xiaozhi-main │ ├── .flake8 │ ├── .github │ ├── ISSUE_TEMPLATE │ │ ├── bug_report.md │ │ ├── code_improvement.md │ │ ├── documentation_improvement.md │ │ └── feature_request.md │ └── workflows │ │ ├── build-window.yml │ │ └── vitepress.yml │ ├── .gitignore │ ├── 111.mp3 │ ├── LICENSE │ ├── README.en.md │ ├── README.md │ ├── __init__.py │ ├── app.py │ ├── assets │ └── emojis │ │ ├── angry.gif │ │ ├── confident.gif │ │ ├── confused.gif │ │ ├── cool.gif │ │ ├── crying.gif │ │ ├── delicious.gif │ │ ├── embarrassed.gif │ │ ├── funny.gif │ │ ├── happy.gif │ │ ├── kissy.gif │ │ ├── laughing.gif │ │ ├── loving.gif │ │ ├── neutral.gif │ │ ├── relaxed.gif │ │ ├── sad.gif │ │ ├── shocked.gif │ │ ├── silly.gif │ │ ├── sleepy.gif │ │ ├── surprised.gif │ │ ├── thinking.gif │ │ └── winking.gif │ ├── authorize_python_access.sh │ ├── build.json │ ├── captured_photos │ ├── photo_20250819_145701.jpg │ ├── photo_20250819_145727.jpg │ ├── photo_20250819_145803.jpg │ ├── photo_20250819_145827.jpg │ ├── photo_20250820_150922.jpg │ ├── photo_20250820_151037.jpg │ ├── photo_20250820_151428.jpg │ ├── photo_20250820_151543.jpg │ ├── photo_20250820_151618.jpg │ ├── photo_20250820_152007.jpg │ ├── photo_20250820_152132.jpg │ ├── photo_20250820_152524.jpg │ ├── photo_20250821_160215.jpg │ ├── photo_20250821_161448.jpg │ ├── photo_20250821_162030.jpg │ ├── photo_20250821_162052.jpg │ ├── photo_20250821_162140.jpg │ ├── photo_20250821_162237.jpg │ ├── photo_20250821_172739.jpg │ ├── photo_20250821_172800.jpg │ ├── photo_20250821_172818.jpg │ ├── photo_20250821_172837.jpg │ ├── photo_20250821_172855.jpg │ ├── photo_20250821_172922.jpg │ ├── photo_20250821_172949.jpg │ ├── photo_20250822_164252.jpg │ ├── photo_20250822_184816.jpg │ ├── photo_20250822_184933.jpg │ ├── photo_20250822_204535.jpg │ ├── photo_20250822_204612.jpg │ ├── photo_20250822_204727.jpg │ ├── photo_20250822_204759.jpg │ ├── photo_20250822_204833.jpg │ ├── photo_20250822_204950.jpg │ ├── photo_20250822_205028.jpg │ ├── photo_20250822_205215.jpg │ ├── photo_20250825_140157.jpg │ ├── photo_20250825_143523.jpg │ ├── photo_20250825_145737.jpg │ ├── photo_20250825_160448.jpg │ ├── photo_20250825_160529.jpg │ ├── photo_20250825_173028.jpg │ ├── photo_20250825_173301.jpg │ ├── photo_20250826_115729.jpg │ ├── photo_20250826_120056.jpg │ ├── photo_20250826_143359.jpg │ ├── photo_20250826_154844.jpg │ ├── photo_20250826_154942.jpg │ ├── photo_20250826_155052.jpg │ ├── photo_20250826_155118.jpg │ ├── photo_20250826_155201.jpg │ ├── photo_20250826_155332.jpg │ ├── photo_20250829_134116.jpg │ ├── photo_20250829_140142.jpg │ ├── photo_20250829_162402.jpg │ ├── photo_20250829_163206.jpg │ ├── photo_20250829_163925.jpg │ ├── photo_20250829_164059.jpg │ ├── photo_20250829_164152.jpg │ └── photo_20250829_171225.jpg │ ├── checke_opus.sh │ ├── documents │ ├── .gitignore │ ├── README.md │ ├── docs │ │ ├── .vitepress │ │ │ ├── config.mts │ │ │ ├── guide │ │ │ │ └── index.ts │ │ │ ├── theme │ │ │ │ ├── index.ts │ │ │ │ └── styles │ │ │ │ │ ├── badges.css │ │ │ │ │ ├── custom.scss │ │ │ │ │ ├── index.css │ │ │ │ │ ├── inline-demo.css │ │ │ │ │ ├── options-boxes.css │ │ │ │ │ ├── pages.css │ │ │ │ │ ├── style-guide.css │ │ │ │ │ ├── utilities.css │ │ │ │ │ └── vue-mastery.css │ │ │ └── utils │ │ │ │ └── index.ts │ │ ├── about │ │ │ ├── images │ │ │ │ ├── ben-hong.jpeg │ │ │ │ └── evan-you.jpeg │ │ │ ├── team.md │ │ │ └── team │ │ │ │ ├── Member.ts │ │ │ │ ├── TeamHero.vue │ │ │ │ ├── TeamList.vue │ │ │ │ ├── TeamMember.vue │ │ │ │ ├── TeamPage.vue │ │ │ │ ├── members-core.json │ │ │ │ └── members-partner.json │ │ ├── architecture │ │ │ ├── components │ │ │ │ ├── ArchitectureFeatures.vue │ │ │ │ ├── CoreArchitecture.vue │ │ │ │ ├── DataFlow.vue │ │ │ │ ├── ModuleDetails.vue │ │ │ │ ├── StateManagement.vue │ │ │ │ └── TechnologyStack.vue │ │ │ └── index.md │ │ ├── contributing.md │ │ ├── ecosystem │ │ │ ├── index.md │ │ │ └── projects │ │ │ │ ├── intelliconnect │ │ │ │ ├── images │ │ │ │ │ └── logo.png │ │ │ │ └── index.md │ │ │ │ ├── open-xiaoai │ │ │ │ ├── images │ │ │ │ │ └── logo.png │ │ │ │ └── index.md │ │ │ │ ├── xiaozhi-android-client │ │ │ │ ├── images │ │ │ │ │ ├── 界面1.jpg │ │ │ │ │ └── 界面2.jpg │ │ │ │ └── index.md │ │ │ │ ├── xiaozhi-esp32-server │ │ │ │ ├── images │ │ │ │ │ └── logo.png │ │ │ │ └── index.md │ │ │ │ └── xiaozhi-unity │ │ │ │ ├── images │ │ │ │ ├── logo.png │ │ │ │ ├── 界面1.png │ │ │ │ └── 界面2.png │ │ │ │ └── index.md │ │ ├── guide │ │ │ ├── images │ │ │ │ ├── home_assistatnt配置.png │ │ │ │ ├── 唤醒词.png │ │ │ │ ├── 导入ha.png │ │ │ │ ├── 已注册设备.png │ │ │ │ ├── 系统界面.png │ │ │ │ └── 设备选择.png │ │ │ ├── old_docs │ │ │ │ └── 使用文档.md │ │ │ ├── 异常汇总.md │ │ │ ├── 快捷键说明.md │ │ │ ├── 打包教程.md │ │ │ ├── 文档目录.md │ │ │ ├── 系统依赖安装.md │ │ │ ├── 设备激活流程.md │ │ │ ├── 语音交互模式说明.md │ │ │ ├── 语音唤醒.md │ │ │ └── 配置说明.md │ │ ├── index.md │ │ ├── iot │ │ │ └── index.md │ │ ├── mcp │ │ │ ├── amap.md │ │ │ ├── bazi.md │ │ │ ├── calendar.md │ │ │ ├── camera.md │ │ │ ├── index.md │ │ │ ├── music.md │ │ │ ├── railway.md │ │ │ ├── recipe.md │ │ │ ├── search.md │ │ │ ├── system.md │ │ │ └── timer.md │ │ └── sponsors │ │ │ ├── SponsorsList.vue │ │ │ ├── data.js │ │ │ └── index.md │ ├── img.png │ ├── index.ts │ ├── package.json │ ├── pnpm-lock.yaml │ ├── tsconfig.json │ └── yarn.lock │ ├── flask_session │ └── 2029240f6d1128be89ddc32729463129 │ ├── format_code.sh │ ├── hooks │ ├── __init__.py │ └── hook-vosk.py │ ├── libs │ ├── libopus │ │ ├── linux │ │ │ ├── arm64 │ │ │ │ └── libopus.so │ │ │ └── x64 │ │ │ │ └── libopus.so │ │ ├── mac │ │ │ ├── arm64 │ │ │ │ └── libopus.dylib │ │ │ └── x64 │ │ │ │ └── libopus.dylib │ │ └── win │ │ │ └── x86_64 │ │ │ └── opus.dll │ └── webrtc_apm │ │ ├── Android.meta │ │ ├── README.md │ │ ├── README.md.meta │ │ ├── WebRTCAPMWrapper.cs │ │ ├── WebRTCAPMWrapper.cs.meta │ │ ├── ios.meta │ │ ├── linux.meta │ │ ├── linux │ │ ├── x64.meta │ │ └── x64 │ │ │ ├── libwebrtc_apm.so │ │ │ └── libwebrtc_apm.so.meta │ │ ├── mac.meta │ │ ├── mac │ │ ├── arm64.meta │ │ ├── arm64 │ │ │ ├── libwebrtc_apm.dylib │ │ │ └── libwebrtc_apm.dylib.meta │ │ ├── x64.meta │ │ └── x64 │ │ │ ├── libwebrtc_apm.dylib │ │ │ └── libwebrtc_apm.dylib.meta │ │ ├── win.meta │ │ └── win │ │ ├── x86_64.meta │ │ └── x86_64 │ │ ├── libwebrtc_apm.dll │ │ └── libwebrtc_apm.dll.meta │ ├── main.py │ ├── pyproject.toml │ ├── recognition_result.txt │ ├── requirements.txt │ ├── requirements_mac.txt │ ├── scripts │ ├── __init__.py │ ├── calendar_query.py │ ├── camera_scanner.py │ ├── dir_tree.py │ ├── music_cache_scanner.py │ ├── py_audio_scanner.py │ └── webrtc_aec_demo.py │ ├── src │ ├── __init__.py │ ├── application.py │ ├── audio_codecs │ │ ├── __init__.py │ │ └── audio_codec.py │ ├── audio_processing │ │ ├── __init__.py │ │ ├── vad_detector.py │ │ ├── wake_word_detect.py │ │ └── webrtc_processing.py │ ├── constants │ │ ├── __init__.py │ │ ├── constants.py │ │ └── system.py │ ├── core │ │ ├── __init__.py │ │ ├── ota.py │ │ └── system_initializer.py │ ├── dir_structure.txt │ ├── display │ │ ├── __init__.py │ │ ├── base_display.py │ │ ├── cli_display.py │ │ ├── gui_display.py │ │ └── gui_display.ui │ ├── iot │ │ ├── thing.py │ │ ├── thing_manager.py │ │ └── things │ │ │ ├── CameraVL │ │ │ ├── Camera.py │ │ │ └── VL.py │ │ │ ├── countdown_timer.py │ │ │ ├── lamp.py │ │ │ ├── music_player.py │ │ │ └── speaker.py │ ├── mcp │ │ ├── __init__.py │ │ ├── mcp_server.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ ├── amap │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── bazi │ │ │ ├── __init__.py │ │ │ ├── bazi_calculator.py │ │ │ ├── engine.py │ │ │ ├── manager.py │ │ │ ├── marriage_analyzer.py │ │ │ ├── marriage_tools.py │ │ │ ├── models.py │ │ │ ├── professional_analyzer.py │ │ │ ├── professional_data.py │ │ │ └── tools.py │ │ │ ├── bixin │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── calendar │ │ │ ├── __init__.py │ │ │ ├── database.py │ │ │ ├── manager.py │ │ │ ├── models.py │ │ │ ├── reminder_service.py │ │ │ └── tools.py │ │ │ ├── camera │ │ │ ├── __init__.py │ │ │ ├── base_camera.py │ │ │ ├── camera.py │ │ │ ├── normal_camera.py │ │ │ └── vl_camera.py │ │ │ ├── check │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── daohang_dianti │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── daohang_weishengjian │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── handshake │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── identify │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── music │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── music_player.py │ │ │ ├── nihao │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── qin │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── railway │ │ │ ├── __init__.py │ │ │ ├── client.py │ │ │ ├── manager.py │ │ │ ├── models.py │ │ │ └── tools.py │ │ │ ├── recipe │ │ │ ├── __init__.py │ │ │ ├── client.py │ │ │ ├── manager.py │ │ │ ├── models.py │ │ │ └── tools.py │ │ │ ├── search │ │ │ ├── __init__.py │ │ │ ├── client.py │ │ │ ├── manager.py │ │ │ ├── models.py │ │ │ └── tools.py │ │ │ ├── system │ │ │ ├── __init__.py │ │ │ ├── app_management │ │ │ │ ├── __init__.py │ │ │ │ ├── killer.py │ │ │ │ ├── launcher.py │ │ │ │ ├── linux │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── killer.py │ │ │ │ │ ├── launcher.py │ │ │ │ │ └── scanner.py │ │ │ │ ├── mac │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── killer.py │ │ │ │ │ ├── launcher.py │ │ │ │ │ └── scanner.py │ │ │ │ ├── scanner.py │ │ │ │ ├── utils.py │ │ │ │ └── windows │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── killer.py │ │ │ │ │ ├── launcher.py │ │ │ │ │ └── scanner.py │ │ │ ├── device_status.py │ │ │ ├── manager.py │ │ │ └── tools.py │ │ │ ├── timer │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ ├── timer_service.py │ │ │ └── tools.py │ │ │ └── yongbao │ │ │ ├── __init__.py │ │ │ ├── manager.py │ │ │ └── tools.py │ ├── network │ │ ├── __init__.py │ │ └── mqtt_client.py │ ├── protocols │ │ ├── __init__.py │ │ ├── mqtt_protocol.py │ │ ├── protocol.py │ │ └── websocket_protocol.py │ ├── utils │ │ ├── __init__.py │ │ ├── common_utils.py │ │ ├── config_manager.py │ │ ├── device_activator.py │ │ ├── device_fingerprint.py │ │ ├── logging_config.py │ │ ├── opus_loader.py │ │ ├── resource_finder.py │ │ └── volume_controller.py │ └── views │ │ ├── __init__.py │ │ ├── activation │ │ ├── __init__.py │ │ ├── activation_window.py │ │ ├── activation_window.ui │ │ └── cli_activation.py │ │ ├── base │ │ ├── __init__.py │ │ ├── async_mixins.py │ │ └── base_window.py │ │ ├── components │ │ ├── __init__.py │ │ ├── shortcut_manager.py │ │ └── system_tray.py │ │ └── settings │ │ ├── __init__.py │ │ ├── components │ │ ├── __init__.py │ │ └── shortcuts_settings.py │ │ ├── settings_window.py │ │ └── settings_window.ui │ ├── templates │ ├── activation.html │ └── dashboard.html │ ├── xiaozhi_ai.log │ ├── yushudongzuo │ └── mcp_handshake.py │ ├── 开机启动.py │ └── 网站搭建.py ├── README.md ├── contact ├── unitree_sdk2_python ├── .gitignore ├── LICENSE ├── README zh.md ├── README.md ├── example │ ├── b2 │ │ ├── camera │ │ │ ├── camera_opencv.py │ │ │ └── capture_image.py │ │ ├── high_level │ │ │ └── b2_sport_client.py │ │ └── low_level │ │ │ ├── b2_stand_example.py │ │ │ └── unitree_legged_const.py │ ├── b2w │ │ ├── camera │ │ │ ├── camera_opencv.py │ │ │ └── capture_image.py │ │ ├── high_level │ │ │ └── b2w_sport_client.py │ │ └── low_level │ │ │ ├── b2w_stand_example.py │ │ │ └── unitree_legged_const.py │ ├── g1 │ │ ├── audio │ │ │ ├── g1_audio_client_example.py │ │ │ ├── g1_audio_client_play_wav.py │ │ │ ├── test.wav │ │ │ └── wav.py │ │ ├── high_level │ │ │ ├── g1_arm5_sdk_dds_example.py │ │ │ ├── g1_arm7_sdk_dds_example.py │ │ │ ├── g1_arm_action_example.py │ │ │ ├── g1_control.py │ │ │ └── g1_loco_client_example.py │ │ ├── low_level │ │ │ └── g1_low_level_example.py │ │ └── readme.md │ ├── go2 │ │ ├── front_camera │ │ │ ├── camera_opencv.py │ │ │ └── capture_image.py │ │ ├── high_level │ │ │ ├── go2_sport_client.py │ │ │ └── go2_utlidar_switch.py │ │ └── low_level │ │ │ ├── go2_stand_example.py │ │ │ └── unitree_legged_const.py │ ├── go2w │ │ ├── high_level │ │ │ └── go2w_sport_client.py │ │ └── low_level │ │ │ ├── go2w_stand_example.py │ │ │ └── unitree_legged_const.py │ ├── h1 │ │ ├── high_level │ │ │ └── h1_loco_client_example.py │ │ └── low_level │ │ │ ├── h1_low_level_example.py │ │ │ └── unitree_legged_const.py │ ├── h1_2 │ │ └── low_level │ │ │ └── h1_2_low_level_example.py │ ├── helloworld │ │ ├── publisher.py │ │ ├── subscriber.py │ │ └── user_data.py │ ├── motionSwitcher │ │ └── motion_switcher_example.py │ ├── obstacles_avoid │ │ ├── obstacles_avoid_move.py │ │ └── obstacles_avoid_switch.py │ ├── vui_client │ │ └── vui_client_example.py │ └── wireless_controller │ │ └── wireless_controller.py ├── pyproject.toml └── unitree_sdk2py │ ├── __init__.py │ ├── b2 │ ├── back_video │ │ ├── back_video_api.py │ │ └── back_video_client.py │ ├── front_video │ │ ├── front_video_api.py │ │ └── front_video_client.py │ ├── robot_state │ │ ├── robot_state_api.py │ │ └── robot_state_client.py │ ├── sport │ │ ├── sport_api.py │ │ └── sport_client.py │ └── vui │ │ ├── vui_api.py │ │ └── vui_client.py │ ├── comm │ └── motion_switcher │ │ ├── __init__.py │ │ ├── motion_switcher_api.py │ │ └── motion_switcher_client.py │ ├── core │ ├── __init__.py │ ├── channel.py │ ├── channel_config.py │ └── channel_name.py │ ├── g1 │ ├── arm │ │ ├── g1_arm_action_api.py │ │ └── g1_arm_action_client.py │ ├── audio │ │ ├── g1_audio_api.py │ │ └── g1_audio_client.py │ └── loco │ │ ├── g1_loco_api.py │ │ └── g1_loco_client.py │ ├── go2 │ ├── __init__.py │ ├── obstacles_avoid │ │ ├── __init__.py │ │ ├── obstacles_avoid_api.py │ │ └── obstacles_avoid_client.py │ ├── robot_state │ │ ├── __init__.py │ │ ├── robot_state_api.py │ │ └── robot_state_client.py │ ├── sport │ │ ├── __init__.py │ │ ├── sport_api.py │ │ └── sport_client.py │ ├── video │ │ ├── __init__.py │ │ ├── video_api.py │ │ └── video_client.py │ └── vui │ │ ├── __init__.py │ │ ├── vui_api.py │ │ └── vui_client.py │ ├── h1 │ └── loco │ │ ├── h1_loco_api.py │ │ └── h1_loco_client.py │ ├── idl │ ├── __init__.py │ ├── builtin_interfaces │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _Time_.py │ │ │ └── __init__.py │ ├── default.py │ ├── geometry_msgs │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _Point32_.py │ │ │ ├── _PointStamped_.py │ │ │ ├── _Point_.py │ │ │ ├── _Pose2D_.py │ │ │ ├── _PoseStamped_.py │ │ │ ├── _PoseWithCovarianceStamped_.py │ │ │ ├── _PoseWithCovariance_.py │ │ │ ├── _Pose_.py │ │ │ ├── _QuaternionStamped_.py │ │ │ ├── _Quaternion_.py │ │ │ ├── _TwistStamped_.py │ │ │ ├── _TwistWithCovarianceStamped_.py │ │ │ ├── _TwistWithCovariance_.py │ │ │ ├── _Twist_.py │ │ │ ├── _Vector3_.py │ │ │ └── __init__.py │ ├── nav_msgs │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _MapMetaData_.py │ │ │ ├── _OccupancyGrid_.py │ │ │ ├── _Odometry_.py │ │ │ └── __init__.py │ ├── sensor_msgs │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── PointField_Constants │ │ │ ├── _PointField_.py │ │ │ └── __init__.py │ │ │ ├── _PointCloud2_.py │ │ │ ├── _PointField_.py │ │ │ └── __init__.py │ ├── std_msgs │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _Header_.py │ │ │ ├── _String_.py │ │ │ └── __init__.py │ ├── unitree_api │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _RequestHeader_.py │ │ │ ├── _RequestIdentity_.py │ │ │ ├── _RequestLease_.py │ │ │ ├── _RequestPolicy_.py │ │ │ ├── _Request_.py │ │ │ ├── _ResponseHeader_.py │ │ │ ├── _ResponseStatus_.py │ │ │ ├── _Response_.py │ │ │ └── __init__.py │ ├── unitree_go │ │ ├── __init__.py │ │ └── msg │ │ │ ├── __init__.py │ │ │ └── dds_ │ │ │ ├── _AudioData_.py │ │ │ ├── _BmsCmd_.py │ │ │ ├── _BmsState_.py │ │ │ ├── _Error_.py │ │ │ ├── _Go2FrontVideoData_.py │ │ │ ├── _HeightMap_.py │ │ │ ├── _IMUState_.py │ │ │ ├── _InterfaceConfig_.py │ │ │ ├── _LidarState_.py │ │ │ ├── _LowCmd_.py │ │ │ ├── _LowState_.py │ │ │ ├── _MotorCmd_.py │ │ │ ├── _MotorCmds_.py │ │ │ ├── _MotorState_.py │ │ │ ├── _MotorStates_.py │ │ │ ├── _PathPoint_.py │ │ │ ├── _Req_.py │ │ │ ├── _Res_.py │ │ │ ├── _SportModeState_.py │ │ │ ├── _TimeSpec_.py │ │ │ ├── _UwbState_.py │ │ │ ├── _UwbSwitch_.py │ │ │ ├── _WirelessController_.py │ │ │ └── __init__.py │ └── unitree_hg │ │ ├── .idlpy_manifest │ │ ├── __init__.py │ │ └── msg │ │ ├── .idlpy_manifest │ │ ├── __init__.py │ │ └── dds_ │ │ ├── .idlpy_manifest │ │ ├── _BmsCmd_.py │ │ ├── _BmsState_.py │ │ ├── _HandCmd_.py │ │ ├── _HandState_.py │ │ ├── _IMUState_.py │ │ ├── _LowCmd_.py │ │ ├── _LowState_.py │ │ ├── _MainBoardState_.py │ │ ├── _MotorCmd_.py │ │ ├── _MotorState_.py │ │ ├── _PressSensorState_.py │ │ └── __init__.py │ ├── rpc │ ├── __init__.py │ ├── client.py │ ├── client_base.py │ ├── client_stub.py │ ├── internal.py │ ├── lease_client.py │ ├── lease_server.py │ ├── request_future.py │ ├── server.py │ ├── server_base.py │ └── server_stub.py │ ├── test │ ├── client │ │ ├── obstacles_avoid_client_example.py │ │ ├── robot_service_client_example.py │ │ ├── sport_client_example.py │ │ ├── video_client_example.py │ │ └── vui_client_example.py │ ├── crc │ │ └── test_crc.py │ ├── helloworld │ │ ├── helloworld.py │ │ ├── publisher.py │ │ └── subscriber.py │ ├── lowlevel │ │ ├── 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