├── .gitignore ├── LICENSE ├── README.md ├── doc ├── compare │ ├── backward.gif │ ├── forward.gif │ └── sidewalk.gif ├── gazebo_a1.png ├── hardware_a1.png ├── isaac_a1.png └── sys.png ├── docker └── Dockerfile ├── docker_noetic_focal ├── Dockerfile └── test.txt ├── gazebo_docker ├── Dockerfile └── run_gazebo_docker.bash └── src ├── a1_cpp ├── CMakeLists.txt ├── config │ ├── gazebo_a1_mpc.yaml │ ├── gazebo_a1_mpc_2x.yaml │ ├── gazebo_a1_qp.yaml │ ├── hardware_a1_mpc.yaml │ ├── hardware_a1_mpc_new.yaml │ ├── hardware_a1_qp.yaml │ ├── isaac_a1_mpc.yaml │ └── isaac_a1_qp.yaml ├── launch │ └── a1_ctrl.launch ├── package.xml └── src │ ├── A1BasicEKF.cpp │ ├── A1BasicEKF.h │ ├── A1CtrlStates.h │ ├── A1Params.h │ ├── A1RobotControl.cpp │ ├── A1RobotControl.h │ ├── ConvexMpc.cpp │ ├── ConvexMpc.h │ ├── GazeboA1ROS.cpp │ ├── GazeboA1ROS.h │ ├── HardwareA1ROS.cpp │ ├── HardwareA1ROS.h │ ├── IsaacA1ROS.cpp │ ├── IsaacA1ROS.h │ ├── MainGazebo.cpp │ ├── MainHardware.cpp │ ├── MainIsaac.cpp │ ├── legKinematics │ ├── A1Kinematics.cpp │ ├── A1Kinematics.h │ └── README.md │ ├── test │ ├── test_bezier.cpp │ ├── test_mpc.cpp │ ├── test_rotation.cpp │ └── test_unitree_msgs.cpp │ └── utils │ ├── Utils.cpp │ ├── Utils.h │ └── filter.hpp ├── data_collection ├── CMakeLists.txt ├── data │ ├── qSineSignal.txt │ └── qSineSignalClean.txt ├── launch │ └── lowlevel_demo.launch ├── package.xml └── src │ ├── HighLevel.cpp │ ├── HighLevel.hpp │ ├── Lowlevel.cpp │ ├── Lowlevel.hpp │ ├── MainHardware.cpp │ ├── signal_sine.cpp │ └── signal_sine.hpp ├── go1_rl_ctrl_cpp ├── CMakeLists.txt ├── config │ ├── hardware_parameters.yaml │ ├── parameters.yaml │ └── xml │ │ ├── act.xml │ │ ├── foot_force.xml │ │ ├── foot_force_hardware.xml │ │ ├── foot_pos.xml │ │ ├── joint_pos.xml │ │ ├── joint_vel.xml │ │ ├── obs.xml │ │ └── torque.xml ├── launch │ ├── a1_ctrl.launch │ ├── go1_ctrl.launch │ └── go1_ctrl_hardware.launch ├── package.xml ├── resource │ ├── cpp_model.pt │ ├── mass.pt │ ├── position.pt │ └── stand_cpp_model.pt └── src │ ├── EKF │ ├── Go1BasicEKF.cpp │ └── Go1BasicEKF.hpp │ ├── Go1CtrlStates.hpp │ ├── Go1Params.hpp │ ├── Go1RLController.cpp │ ├── Go1RLController.hpp │ ├── Go1RLHardwareController.cpp │ ├── Go1RLHardwareController.hpp │ ├── MainGazebo.cpp │ ├── SwitchController.hpp │ ├── TestHardware.cpp │ ├── legKinematics │ ├── Go1Kinematics.cpp │ ├── Go1Kinematics.hpp │ └── README.md │ ├── observation │ ├── Go1HardwareObservation.hpp │ └── Go1Observation.hpp │ ├── servo_stand_policy │ ├── GazeboServo.cpp │ ├── GazeboServo.hpp │ ├── HardwareServo.cpp │ ├── HardwareServo.hpp │ ├── HardwareServoSwitch.cpp │ ├── HardwareServoSwitch.hpp │ ├── body.cpp │ ├── body.h │ └── servo.cpp │ ├── torch_eigen │ ├── TorchEigen.cpp │ └── TorchEigen.hpp │ └── utils │ ├── Utils.cpp │ ├── Utils.hpp │ └── filter.hpp └── pytorch_debug ├── CMakeLists.txt ├── actor_architecture_default_1.pth ├── cpp_model.pt ├── main.cpp ├── module.py ├── py_model.pt ├── rl_policy_module.py └── 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