├── .gitignore ├── .pre-commit-config.yaml ├── .pylintrc ├── LICENSE ├── README.md ├── locomotion ├── __init__.py ├── agents │ ├── __init__.py │ └── whole_body_controller │ │ ├── __init__.py │ │ ├── com_velocity_estimator.py │ │ ├── foot_stepper.py │ │ ├── gait_generator.py │ │ ├── leg_controller.py │ │ ├── locomotion_controller.py │ │ ├── openloop_gait_generator.py │ │ ├── qp_torque_optimizer.py │ │ ├── raibert_swing_leg_controller.py │ │ ├── static_gait_controller.py │ │ └── torque_stance_leg_controller.py ├── envs │ ├── __init__.py │ ├── env_builder.py │ ├── env_wrappers │ │ ├── __init__.py │ │ ├── observation_dictionary_to_array_wrapper.py │ │ ├── simple_forward_task.py │ │ ├── simple_openloop.py │ │ ├── survival_task.py │ │ └── trajectory_generator_wrapper_env.py │ ├── gym_envs │ │ ├── __init__.py │ │ └── a1_gym_env.py │ ├── locomotion_gym_config.py │ ├── locomotion_gym_env.py │ ├── sensors │ │ ├── __init__.py │ │ ├── environment_sensors.py │ │ ├── robot_sensors.py │ │ ├── sensor.py │ │ ├── sensor_wrappers.py │ │ └── space_utils.py │ └── utilities │ │ ├── __init__.py │ │ ├── controllable_env_randomizer_base.py │ │ ├── controllable_env_randomizer_from_config.py │ │ ├── env_randomizer_base.py │ │ ├── env_utils.py │ │ ├── minitaur_env_randomizer.py │ │ ├── minitaur_env_randomizer_config.py │ │ └── minitaur_env_randomizer_from_config.py ├── examples │ ├── __init__.py │ ├── a1_robot_exercise.py │ ├── a1_robot_sim_to_real.py │ ├── random_action.py │ ├── replay_actions.py │ ├── test_env_gui.py │ ├── test_robot_interface.py │ └── whole_body_controller_example.py ├── robots │ ├── __init__.py │ ├── a1.py │ ├── a1_robot.py │ ├── a1_robot_velocity_estimator.py │ ├── action_filter.py │ ├── gamepad │ │ └── gamepad_reader.py │ ├── kinematics.py │ ├── laikago.py │ ├── laikago_constants.py │ ├── laikago_motor.py │ ├── laikago_pose_utils.py │ ├── minitaur.py │ ├── minitaur_constants.py │ ├── minitaur_motor.py │ ├── minitaur_pose_utils.py │ ├── robot_config.py │ └── robot_pose_utils.py └── utilities │ ├── __init__.py │ ├── moving_window_filter.py │ └── pose3d.py ├── requirements.txt ├── setup.py └── third_party ├── pybind11 └── include │ └── pybind11 │ ├── attr.h │ ├── buffer_info.h │ ├── cast.h │ ├── chrono.h │ ├── common.h │ ├── complex.h │ ├── detail │ ├── class.h │ ├── common.h │ ├── descr.h │ ├── init.h │ ├── internals.h │ └── typeid.h │ ├── eigen.h │ ├── embed.h │ ├── eval.h │ ├── functional.h │ ├── iostream.h │ ├── numpy.h │ ├── operators.h │ ├── options.h │ ├── pybind11.h │ ├── pytypes.h │ ├── stl.h │ └── stl_bind.h └── unitree_legged_sdk ├── .gitignore ├── CMakeLists.txt ├── ChangeLog.md ├── LICENSE ├── README.md ├── include └── unitree_legged_sdk │ ├── a1_const.h │ ├── aliengo_const.h │ ├── comm.h │ ├── lcm.h │ ├── lcm_server.h │ ├── loop.h │ ├── quadruped.h │ ├── safety.h │ ├── udp.h │ └── unitree_legged_sdk.h ├── lib ├── libunitree_legged_sdk_amd64.so ├── libunitree_legged_sdk_arm32.so └── libunitree_legged_sdk_arm64.so ├── pybind11 ├── .appveyor.yml ├── .clang-tidy ├── .cmake-format.yaml ├── .github │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE │ │ ├── bug-report.md │ │ ├── config.yml │ │ ├── feature-request.md │ │ └── question.md │ ├── labeler.yml │ └── workflows │ │ ├── ci.yml │ │ ├── configure.yml │ │ ├── format.yml │ │ ├── labeler.yml │ │ └── pip.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CMakeLists.txt ├── LICENSE ├── MANIFEST.in ├── README.rst ├── docs │ ├── Doxyfile │ ├── _static │ │ └── theme_overrides.css │ ├── advanced │ │ ├── cast │ │ │ ├── chrono.rst │ │ │ ├── custom.rst │ │ │ ├── eigen.rst │ │ │ ├── functional.rst │ │ │ ├── index.rst │ │ │ ├── overview.rst │ │ │ ├── stl.rst │ │ │ └── strings.rst │ │ ├── classes.rst │ │ ├── embedding.rst │ │ ├── exceptions.rst │ │ ├── functions.rst │ │ ├── misc.rst │ │ ├── pycpp │ │ │ ├── index.rst │ │ │ ├── numpy.rst │ │ │ ├── object.rst │ │ │ └── utilities.rst │ │ └── smart_ptrs.rst │ ├── basics.rst │ ├── benchmark.py │ ├── benchmark.rst │ ├── changelog.rst │ ├── classes.rst │ ├── cmake │ │ └── index.rst │ ├── compiling.rst │ ├── conf.py │ ├── faq.rst │ ├── index.rst │ ├── installing.rst │ ├── limitations.rst │ ├── pybind11-logo.png │ ├── pybind11_vs_boost_python1.png │ ├── pybind11_vs_boost_python1.svg │ ├── pybind11_vs_boost_python2.png │ ├── pybind11_vs_boost_python2.svg │ ├── reference.rst │ ├── release.rst │ ├── requirements.txt │ └── upgrade.rst ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── descr.h │ │ ├── init.h │ │ ├── internals.h │ │ └── typeid.h │ │ ├── eigen.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── iostream.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ └── stl_bind.h ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ ├── _version.py │ ├── commands.py │ └── setup_helpers.py ├── pyproject.toml ├── setup.cfg ├── setup.py ├── tests │ ├── CMakeLists.txt │ ├── conftest.py │ ├── constructor_stats.h │ ├── cross_module_gil_utils.cpp │ ├── env.py │ ├── extra_python_package │ │ ├── pytest.ini │ │ └── test_files.py │ ├── extra_setuptools │ │ ├── pytest.ini │ │ └── test_setuphelper.py │ ├── local_bindings.h │ ├── object.h │ ├── pybind11_cross_module_tests.cpp │ ├── pybind11_tests.cpp │ ├── pybind11_tests.h │ ├── pytest.ini │ ├── requirements.txt │ ├── test_async.cpp │ ├── test_async.py │ ├── test_buffers.cpp │ ├── test_buffers.py │ ├── test_builtin_casters.cpp │ ├── test_builtin_casters.py │ ├── test_call_policies.cpp │ ├── test_call_policies.py │ ├── test_callbacks.cpp │ ├── test_callbacks.py │ ├── test_chrono.cpp │ ├── test_chrono.py │ ├── test_class.cpp │ ├── test_class.py │ ├── test_cmake_build │ │ ├── CMakeLists.txt │ │ ├── embed.cpp │ │ ├── installed_embed │ │ │ └── CMakeLists.txt │ │ ├── installed_function │ │ │ └── CMakeLists.txt │ │ ├── installed_target │ │ │ └── CMakeLists.txt │ │ ├── main.cpp │ │ ├── subdirectory_embed │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_function │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_target │ │ │ └── CMakeLists.txt │ │ └── test.py │ ├── test_constants_and_functions.cpp │ ├── test_constants_and_functions.py │ ├── test_copy_move.cpp │ ├── test_copy_move.py │ ├── test_custom_type_casters.cpp │ ├── test_custom_type_casters.py │ ├── test_docstring_options.cpp │ ├── test_docstring_options.py │ ├── test_eigen.cpp │ ├── test_eigen.py │ ├── test_embed │ │ ├── CMakeLists.txt │ │ ├── catch.cpp │ │ ├── external_module.cpp │ │ ├── test_interpreter.cpp │ │ └── test_interpreter.py │ ├── test_enum.cpp │ ├── test_enum.py │ ├── test_eval.cpp │ ├── test_eval.py │ ├── test_eval_call.py │ ├── test_exceptions.cpp │ ├── test_exceptions.py │ ├── test_factory_constructors.cpp │ ├── test_factory_constructors.py │ ├── test_gil_scoped.cpp │ ├── test_gil_scoped.py │ ├── test_iostream.cpp │ ├── test_iostream.py │ ├── test_kwargs_and_defaults.cpp │ ├── test_kwargs_and_defaults.py │ ├── test_local_bindings.cpp │ ├── test_local_bindings.py │ ├── test_methods_and_attributes.cpp │ ├── test_methods_and_attributes.py │ ├── test_modules.cpp │ ├── test_modules.py │ ├── test_multiple_inheritance.cpp │ ├── test_multiple_inheritance.py │ ├── test_numpy_array.cpp │ ├── test_numpy_array.py │ ├── test_numpy_dtypes.cpp │ ├── test_numpy_dtypes.py │ ├── test_numpy_vectorize.cpp │ ├── test_numpy_vectorize.py │ ├── test_opaque_types.cpp │ ├── test_opaque_types.py │ ├── test_operator_overloading.cpp │ ├── test_operator_overloading.py │ ├── test_pickling.cpp │ ├── test_pickling.py │ ├── test_pytypes.cpp │ ├── test_pytypes.py │ ├── test_sequences_and_iterators.cpp │ ├── test_sequences_and_iterators.py │ ├── test_smart_ptr.cpp │ ├── test_smart_ptr.py │ ├── test_stl.cpp │ ├── test_stl.py │ ├── test_stl_binders.cpp │ ├── test_stl_binders.py │ ├── test_tagbased_polymorphic.cpp │ ├── test_tagbased_polymorphic.py │ ├── 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